plan: add modify reset plan

从奔曜同步本地资源树+publish到deck

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.19
+  version: 0.11.1
 
 source:
   path: ../../unilabos
@@ -54,7 +54,7 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.19
+  - uni-lab::unilabos-env ==0.11.1
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.19
+  version: 0.11.1
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.19
+  version: 0.11.1
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.19
+  - uni-lab::unilabos ==0.11.1
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.cursor/skills/add-device/SKILL.md

@@ -71,6 +71,22 @@ from unilabos.registry.decorators import action
 - `_` 开头的方法 → 不扫描
 - `@not_action` 标记的方法 → 排除
 
+### 参数文档 → JSON Schema 元数据
+
+在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
+
+```python
+"""
+Args:
+    param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
+"""
+```
+
+- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
+- `:` 后面的说明会写入 goal property 的 `description`。
+- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
+- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
+
 ### @topic_config — 状态属性配置
 
 ```python
@@ -105,13 +121,27 @@ import logging
 from typing import Any, Dict, Optional
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.registry.decorators import device, action, topic_config, not_action
+from unilabos.registry.decorators import action, device, not_action, topic_config
 
-@device(id="my_device", category=["my_category"], description="设备描述")
+@device(
+    id="my_device",
+    category=["my_category"],
+    description="设备描述",
+    display_name="设备显示名",
+)
 class MyDevice:
+    """设备类说明。"""
+
     _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        """
+        初始化设备。
+
+        Args:
+            device_id[设备ID]: 设备实例 ID，默认使用 my_device。
+            config[设备配置]: 设备启动配置。
+        """
         self.device_id = device_id or "my_device"
         self.config = config or {}
         self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
@@ -133,7 +163,13 @@ class MyDevice:
 
     @action(description="执行操作")
     def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
-        """带 @action 装饰器 → 注册为 'my_action' 动作"""
+        """
+        带 @action 装饰器 → 注册为 'my_action' 动作。
+
+        Args:
+            param[操作数值]: 操作使用的数值参数。
+            name[操作名称]: 操作名称或备注。
+        """
         return {"success": True}
 
     def get_info(self) -> Dict[str, Any]:

.cursor/skills/filter-workflow-by-tags/SKILL.md

@@ -0,0 +1,450 @@
+---
+name: filter-workflow-by-tags
+description: Query backend workflow list, aggregate all tags, and filter workflows by domain/scenario requirements using tags. Use when the user wants to search workflows, find workflows by tags, list available workflow tags, filter workflows by category/domain/scenario, or mentions 工作流筛选/标签查询/workflow tags/按领域查找工作流.
+---
+# Uni-Lab 工作流标签筛选指南
+
+通过 Uni-Lab 云端 API 查询工作流列表，汇总所有可用标签（tags），并根据领域和场景要求筛选工作流。
+
+> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
+
+## 使用模式识别
+
+**用户可能一开始就给出场景目标**（如"我要做有机合成实验"、"找柱层析相关的 protocol"）。此时：
+
+1. **识别场景关键词** → 映射到可能的 tags（如 synthesis、organic、chromatography、purification）
+2. **直接执行完整流程**（获取 ak/sk/addr → 拉取所有工作流 → 汇总 tags → 按场景筛选）
+3. **展示筛选结果** → 引导用户从候选 workflow 中**选择明确的实验 protocol**
+4. **如果用户确认某个 workflow** → 记录 `workflow_uuid`，准备对接“与其他 Skill 的协作”
+
+**如果用户未给场景目标**，则按标准 checklist 询问筛选条件。
+
+---
+
+## 前置条件
+
+使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token：
+
+```bash
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE                                  |
+| ------------- | ------------------------------------- |
+| `test`      | `https://leap-lab.test.bohrium.com` |
+| `uat`       | `https://leap-lab.uat.bohrium.com`  |
+| `local`     | `http://127.0.0.1:48197`            |
+| 不传（默认）  | `https://leap-lab.bohrium.com`      |
+
+确认后设置：
+
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <上面命令输出的 token>"
+```
+
+### 3. lab_uuid（实验室 UUID）
+
+如果用户未提供 `lab_uuid`，通过以下 API 自动获取：
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回 `data.uuid` 即为 `lab_uuid`。
+
+**三项全部就绪后才可开始。**
+
+## Session State
+
+在整个对话过程中，agent 需要记住以下状态：
+
+- `lab_uuid` — 实验室 UUID
+- `all_workflows` — 完整工作流列表（分页获取后缓存到内存或临时文件）
+- `all_tags` — 所有工作流的标签汇总
+
+---
+
+## API 端点
+
+### 查询工作流列表（支持分页）
+
+```
+GET $BASE/api/v1/lab/workflow/owner/list?page=<page>&page_size=<page_size>&lab_uuid=$lab_uuid
+```
+
+**参数：**
+
+- `page` — 页码，从 1 开始
+- `page_size` — 每页数量，建议 1000
+- `lab_uuid` — 实验室 UUID
+
+**返回结构：**
+
+```json
+{
+  "code": 0,
+  "data": {
+    "has_more": true,
+    "data": [
+      {
+        "uuid": "9661bba2-1b9f-4687-a63d-910245df174b",
+        "name": "Untitled",
+        "description": "",
+        "user_id": "114211",
+        "published": false,
+        "tags": null
+      },
+      {
+        "uuid": "e0436638-190b-46bc-b1a1-2711d9602f6a",
+        "name": "Synthesis v2",
+        "user_id": "114211",
+        "published": true,
+        "tags": ["synthesis", "organic"]
+      }
+    ]
+  }
+}
+```
+
+**字段说明：**
+
+- `has_more` — 若为 `true`，需要继续请求 `page+1`
+- `tags` — 可能为 `null`、空数组或字符串数组；聚合时必须容忍 `null`
+
+### 启动工作流（直接运行）
+
+```
+POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run
+```
+
+**用途：** 直接启动一个 workflow 的默认执行（使用模板中预设的参数），无需创建 notebook。适用于快速测试或无参数变化的重复执行。
+
+**请求体：** 空 JSON `{}` 或省略
+
+**返回：**
+
+```json
+{
+  "code": 0,
+  "data": "<run_uuid>"
+}
+```
+
+- `run_uuid` — 本次执行的唯一标识（不是 notebook UUID）
+
+**注意：**
+
+- 该接口会使用 workflow 模板中保存的默认参数直接执行
+- 如果 workflow 需要动态参数（如 CSV 路径、样品 UUID），应使用 `POST /lab/notebook` 创建 notebook 并传入 `node_params`
+- 返回的 `run_uuid` 可直接传入下方「查询任务状态」接口查询实时进度
+
+### 查询任务状态
+
+```
+GET $BASE/api/v1/lab/mcp/task/<task_uuid>
+```
+
+**用途：** 查询由 `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`（即 task_uuid）的实时执行状态，包括整体状态和每个节点（JOS：Job On Station）的执行详情。
+
+**路径参数：**
+
+- `task_uuid` — 等同于启动工作流接口返回的 `run_uuid`
+
+**返回：**
+
+```json
+{
+  "code": 0,
+  "data": {
+    "status": "running",
+    "jos_status": [
+      {
+        "uuid": "d0e24bfe-8d99-450e-b19d-f25849dfbaad",
+        "node_name": "PRCXI_BioER_96_wellplate_slot_1",
+        "action_name": "create_resource",
+        "status": "success",
+        "return_info": {
+          "suc": true,
+          "error": "",
+          "return_value": { ... }
+        }
+      },
+      {
+        "uuid": "...",
+        "node_name": "...",
+        "action_name": "transfer_liquid",
+        "status": "pending",
+        "return_info": null
+      }
+    ]
+  }
+}
+```
+
+**字段说明：**
+
+- `data.status` — 整体任务状态
+  - `running` — 正在执行（至少一个节点 pending 或 running）
+  - `success` — 全部节点成功
+  - `failed` — 有节点失败
+- `data.jos_status[]` — 节点级执行列表（按执行顺序）
+  - `uuid` — 节点执行实例 UUID
+  - `node_name` — 节点名称（资源/设备名或工位名）
+  - `action_name` — 动作类型（`create_resource`、`transfer_liquid`、`centrifuge`、等）
+  - `status` — 节点状态：`success`、`pending`、`running`、`failed`
+  - `return_info` — 执行返回，失败时 `suc=false` 且 `error` 有错误信息
+
+**注意：**
+
+- 此接口的 `task_uuid` **是** `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`，二者为同一个 ID 的不同称呼
+- **不要**把 notebook UUID（`POST /lab/notebook` 返回）传进来——那条路径用 `GET /lab/notebook/status` 查询
+- `jos_status` 数组按节点执行顺序给出；从 pending 数量可以估算剩余进度
+- 返回体可能较大（`return_info.return_value` 中可能包含完整 resource tree），可在脚本中只提取 `status` + `node_name` + `action_name` 做摘要
+
+**状态轮询示例：**
+
+```bash
+# 每 5 秒轮询一次直至完成
+TASK="b183d97e-d2b5-4b24-b14b-820df04d87c0"
+while :; do
+  st=$(curl -s -X GET "$BASE/api/v1/lab/mcp/task/$TASK" -H "$AUTH" \
+    | python3 -c "import json,sys; d=json.load(sys.stdin)['data']; \
+      print(d['status'], '|', sum(1 for j in d['jos_status'] if j['status']=='success'), '/', len(d['jos_status']))")
+  echo "$(date +%H:%M:%S) $st"
+  [[ "$st" == success* || "$st" == failed* ]] && break
+  sleep 5
+done
+```
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 0: 识别用户是否已给出场景目标（如"有机合成"、"柱层析"）
+       - 若已给出 → 记录场景关键词，自动进入后续步骤
+       - 若未给出 → 在 Step 6 询问用户
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid（如用户未提供）
+- [ ] Step 4: 分页获取所有工作流（从 page=1 开始直到 has_more=false）
+- [ ] Step 5: 汇总所有非空 tags → 生成 all_tags（去重、排序、附出现次数）
+- [ ] Step 6: 根据场景关键词（Step 0 或新询问）在 all_tags 中做语义映射 → 确定候选 tags
+       - 若语义映射不唯一，列出候选 tags 让用户确认
+- [ ] Step 7: 按候选 tags 筛选工作流（默认 any 模式，召回优先）
+- [ ] Step 8: 展示筛选结果（uuid、name、description、tags、published）
+- [ ] Step 9: 引导用户从结果中选择**明确的实验 protocol**
+       - 若结果只有 1 条 → 直接确认该 workflow_uuid
+       - 若结果 2–10 条 → 让用户按编号选择
+       - 若结果过多 → 提示收紧条件（加 tag、切换 all 模式、仅 published）
+       - 若结果为空 → 放宽条件（去掉最稀有 tag）或提示用户换关键词
+- [ ] Step 10: 记录用户选中的 workflow_uuid，并提示提交实验或查看详情
+```
+
+---
+
+## 推荐路径：使用脚本
+
+同目录下提供 `scripts/filter_workflows.py`，一次完成分页抓取、标签聚合与筛选：
+
+```bash
+# 1. 仅汇总标签（不筛选）
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --summary-only
+
+# 2. 按标签筛选（ANY 模式：包含任一）
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --tags synthesis organic \
+  --mode any
+
+# 3. 按标签筛选（ALL 模式：必须同时包含）
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --tags synthesis organic \
+  --mode all \
+  --output filtered.json
+
+# 4. 仅筛选已发布
+python scripts/filter_workflows.py \
+  --auth "<Lab base64token>" \
+  --base "$BASE" \
+  --lab-uuid "$lab_uuid" \
+  --tags synthesis \
+  --published-only
+```
+
+**`--auth` 参数说明**：传入 `Authorization` 头中 `Lab` 之后的 base64 token（不带 `Lab ` 前缀），脚本内部会自动补上 scheme。
+
+**输出结构：**
+
+```json
+{
+  "total_workflows": 150,
+  "tag_counts": {"synthesis": 12, "organic": 8, "analysis": 5},
+  "all_tags": ["analysis", "organic", "synthesis"],
+  "filter": {"tags": ["synthesis", "organic"], "mode": "any"},
+  "filtered_workflows": [
+    {"uuid": "...", "name": "...", "description": "...", "tags": [...], "published": true}
+  ]
+}
+```
+
+---
+
+## 手动路径：curl + jq
+
+如果脚本不可用或环境缺少 Python，可用 shell 实现。
+
+### 1. 分页抓取（写入 `all_workflows.json`）
+
+```bash
+page=1
+echo "[]" > all_workflows.json
+
+while :; do
+  resp=$(curl -s -X GET \
+    "$BASE/api/v1/lab/workflow/owner/list?page=$page&page_size=1000&lab_uuid=$lab_uuid" \
+    -H "$AUTH")
+
+  page_data=$(echo "$resp" | jq -c '.data.data // []')
+  jq -c --argjson p "$page_data" '. + $p' all_workflows.json > _tmp.json && mv _tmp.json all_workflows.json
+
+  has_more=$(echo "$resp" | jq -r '.data.has_more')
+  [ "$has_more" != "true" ] && break
+  page=$((page + 1))
+done
+
+echo "Total: $(jq 'length' all_workflows.json)"
+```
+
+### 2. 汇总所有标签（含出现次数）
+
+```bash
+jq '[.[].tags // [] | .[]] | group_by(.) | map({tag: .[0], count: length}) | sort_by(-.count)' \
+  all_workflows.json
+```
+
+### 3. 按标签筛选
+
+```bash
+# ANY：包含任一指定标签
+jq --argjson want '["synthesis","organic"]' \
+  '[.[] | select((.tags // []) | any(. as $t | $want | index($t)))]' \
+  all_workflows.json
+
+# ALL：同时包含所有指定标签
+jq --argjson want '["synthesis","organic"]' \
+  '[.[] | select(($want | all(. as $w | (.tags // []) | index($w))))]' \
+  all_workflows.json
+```
+
+---
+
+## 筛选策略
+
+agent 拿到用户的「领域 + 场景」自然语言描述时，按如下顺序选择 tag：
+
+1. **优先用户显式指定的 tags**：若用户明确给出标签词，直接精确匹配。
+2. **从 all_tags 中做语义映射**：若用户描述是自然语言（如"有机合成、柱层析"），在 all_tags 中找语义相关项（如 `synthesis`、`organic`、`chromatography`）。必要时展示候选 tag 让用户确认。
+3. **模式选择**：
+   - 默认 `any`（更多召回），给出 tag 集合的并集匹配
+   - 用户强调"必须同时满足"时用 `all`
+4. **空结果兜底**：如果筛选为空，放宽条件（去掉最稀有 tag、切换 any 模式），并提醒用户。
+
+---
+
+## 引导到明确的 Protocol
+
+筛选完成后，**最终目标是让用户确认一个具体的 workflow_uuid**，而不是停留在"一堆候选"上。按结果数量采取不同策略：
+
+| 结果数量  | 策略                                                                                                                               |
+| --------- | ---------------------------------------------------------------------------------------------------------------------------------- |
+| 0 条      | 放宽筛选（去掉最稀有 tag → 切换 any 模式 → 去掉 `--published-only`）。仍为空则提示换关键词，或列出 `all_tags` 让用户重新选。 |
+| 1 条      | 直接确认："找到唯一匹配：`<name>` (uuid `<uuid>`)，是否用它？"用户确认后记录 `workflow_uuid`。                               |
+| 2–10 条  | 编号列表展示，让用户选编号。每项给出 name、tags、description 摘要、published 状态。                                                |
+| 10–30 条 | 先展示 tag 分布帮助用户进一步收紧：列出匹配结果中最常见的子标签，提示"加一个 tag 可将结果缩小到 N 条"。                            |
+| >30 条    | 强制要求用户补充条件：仅 published、指定具体 tag 组合、或按名称关键词过滤。                                                        |
+
+**确认 workflow 后**：
+
+1. 将 `workflow_uuid` 写入 session state
+2. 提示用户下一步可用的 skill：
+   - 提交实验 → 引导到“与其他 Skill 的协作”
+   - 查看 workflow 详细节点 → `GET /api/v1/lab/workflow/template/detail/<workflow_uuid>`
+3. 若用户想换一个，回到筛选步骤。
+
+---
+
+## 展示结果
+
+推荐格式（表格 + 汇总统计）：
+
+```
+共 150 个工作流，其中 32 个匹配筛选条件 [tags: synthesis OR organic]
+
+| UUID (短) | 名称                     | Tags                         | 已发布 |
+|-----------|--------------------------|------------------------------|--------|
+| e0436638  | Synthesis v2             | synthesis, organic           | ✓      |
+| 5b60dbb8  | Grignard Protocol        | synthesis, organometallic    | ✓      |
+| ...       | ...                      | ...                          | ...    |
+
+所有可用标签（按频次）：
+  synthesis (12), organic (8), analysis (5), purification (4), ...
+```
+
+如果用户下一步想执行某工作流 → 引导到“与其他 Skill 的协作”。
+
+---
+
+## 常见问题
+
+### Q: tags 为 null 的工作流要不要展示？
+
+默认**不展示**在筛选结果中（因为无法按 tag 匹配）。但在 `--summary-only` 或无筛选条件时，这些工作流仍会计入总数，并在输出中单独列出"未打标签"计数。
+
+### Q: 如何按名称/描述做模糊匹配？
+
+脚本未内置，但可在 jq 中组合：
+
+```bash
+jq '[.[] | select((.name + " " + (.description // "")) | test("organic"; "i"))]' all_workflows.json
+```
+
+### Q: `page_size=1000` 是否会被服务端限制？
+
+接口通常允许最大 1000；如果返回量少于 1000 且 `has_more=false`，说明已到末页。极端情况下若服务端返回错误，可降到 200 或 500 再试。
+
+### Q: 工作流数量极大（>10k）怎么办？
+
+1. 先跑 `--summary-only` 了解 tag 分布
+2. 提示用户先限定 `--published-only` 或指定 tag
+3. 考虑将 `all_workflows.json` 缓存到本地，下次直接复用
+
+---
+
+## 与其他 Skill 的协作
+
+- 正常情况下，找到 workflow 之后可以直接用它提交实验（启动工作流的 api 端点 POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run，不用别的 skill）
+- **仅当需要进行多次实验时，使用 batch-submit-experiment** — 筛选到目标工作流后，`workflow_uuid` 直接用于实验提交
+
+## 脚本依赖
+
+`scripts/filter_workflows.py` 仅使用 Python 标准库（`urllib`、`json`、`argparse`），无需额外安装。

.cursor/skills/filter-workflow-by-tags/scripts/filter_workflows.py

@@ -0,0 +1,191 @@
+#!/usr/bin/env python3
+"""分页拉取 Uni-Lab 工作流列表，汇总 tags 并按 tag 筛选。
+
+使用示例:
+    python filter_workflows.py \
+        --auth <base64token> \
+        --base https://leap-lab.test.bohrium.com \
+        --lab-uuid a9059772-... \
+        --tags synthesis organic --mode any
+
+仅依赖 Python 标准库。
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import urllib.error
+import urllib.parse
+import urllib.request
+from collections import Counter
+
+
+def fetch_all_workflows(base: str, auth_token: str, lab_uuid: str, page_size: int = 1000) -> list[dict]:
+    """分页拉取所有 owner 工作流，直到 has_more=false。"""
+    workflows: list[dict] = []
+    page = 1
+    while True:
+        query = urllib.parse.urlencode(
+            {"page": page, "page_size": page_size, "lab_uuid": lab_uuid}
+        )
+        url = f"{base.rstrip('/')}/api/v1/lab/workflow/owner/list?{query}"
+        req = urllib.request.Request(
+            url,
+            headers={
+                "Authorization": f"Lab {auth_token}",
+                "Accept": "application/json",
+            },
+        )
+        try:
+            with urllib.request.urlopen(req, timeout=30) as resp:
+                payload = json.loads(resp.read().decode("utf-8"))
+        except urllib.error.HTTPError as e:
+            sys.exit(f"[ERROR] HTTP {e.code} on page {page}: {e.read().decode('utf-8', 'ignore')}")
+        except urllib.error.URLError as e:
+            sys.exit(f"[ERROR] URL error on page {page}: {e.reason}")
+
+        if payload.get("code") != 0:
+            sys.exit(f"[ERROR] API returned non-zero code: {payload}")
+
+        data = payload.get("data") or {}
+        page_items = data.get("data") or []
+        workflows.extend(page_items)
+
+        if not data.get("has_more"):
+            break
+        page += 1
+        # 防御性兜底，避免接口异常导致无限循环
+        if page > 1000:
+            print(f"[WARN] page count exceeded 1000, stopping early", file=sys.stderr)
+            break
+
+    return workflows
+
+
+def aggregate_tags(workflows: list[dict]) -> tuple[list[str], dict[str, int], int]:
+    """返回 (sorted_tags, tag_counts, untagged_count)。"""
+    counter: Counter[str] = Counter()
+    untagged = 0
+    for wf in workflows:
+        tags = wf.get("tags")
+        if not tags:
+            untagged += 1
+            continue
+        for t in tags:
+            if isinstance(t, str) and t.strip():
+                counter[t.strip()] += 1
+    return sorted(counter.keys()), dict(counter), untagged
+
+
+def filter_workflows(
+    workflows: list[dict],
+    want_tags: list[str],
+    mode: str,
+    published_only: bool,
+) -> list[dict]:
+    """按 tag 筛选。mode 取值 any / all。"""
+    want_set = {t.strip() for t in want_tags if t.strip()}
+    out: list[dict] = []
+    for wf in workflows:
+        if published_only and not wf.get("published"):
+            continue
+        if not want_set:
+            out.append(wf)
+            continue
+        tags = wf.get("tags") or []
+        tag_set = {t for t in tags if isinstance(t, str)}
+        if mode == "all":
+            if want_set.issubset(tag_set):
+                out.append(wf)
+        else:  # any
+            if want_set & tag_set:
+                out.append(wf)
+    return out
+
+
+def project_workflow(wf: dict) -> dict:
+    """精简输出字段。"""
+    return {
+        "uuid": wf.get("uuid"),
+        "name": wf.get("name"),
+        "description": wf.get("description", ""),
+        "tags": wf.get("tags") or [],
+        "published": bool(wf.get("published")),
+        "user_id": wf.get("user_id"),
+    }
+
+
+def parse_args() -> argparse.Namespace:
+    p = argparse.ArgumentParser(description="Fetch & filter Uni-Lab workflows by tags.")
+    p.add_argument("--auth", required=True, help="Base64 token (the part after `Lab `).")
+    p.add_argument("--base", required=True, help="Base URL, e.g. https://leap-lab.test.bohrium.com")
+    p.add_argument("--lab-uuid", required=True, help="Lab UUID.")
+    p.add_argument("--tags", nargs="*", default=[], help="Tags to filter by (space separated).")
+    p.add_argument(
+        "--mode",
+        choices=["any", "all"],
+        default="any",
+        help="any: workflow contains at least one tag; all: workflow contains every tag.",
+    )
+    p.add_argument("--published-only", action="store_true", help="Only include published workflows.")
+    p.add_argument("--page-size", type=int, default=1000, help="Page size, default 1000.")
+    p.add_argument(
+        "--summary-only",
+        action="store_true",
+        help="Print tag summary without applying filter (still fetches everything).",
+    )
+    p.add_argument("--output", help="Write JSON result to this path. If omitted, print to stdout.")
+    return p.parse_args()
+
+
+def main() -> None:
+    args = parse_args()
+    workflows = fetch_all_workflows(
+        base=args.base,
+        auth_token=args.auth,
+        lab_uuid=args.lab_uuid,
+        page_size=args.page_size,
+    )
+    sorted_tags, tag_counts, untagged = aggregate_tags(workflows)
+
+    if args.summary_only:
+        result = {
+            "total_workflows": len(workflows),
+            "untagged_count": untagged,
+            "tag_counts": tag_counts,
+            "all_tags": sorted_tags,
+        }
+    else:
+        filtered = filter_workflows(
+            workflows,
+            want_tags=args.tags,
+            mode=args.mode,
+            published_only=args.published_only,
+        )
+        result = {
+            "total_workflows": len(workflows),
+            "untagged_count": untagged,
+            "tag_counts": tag_counts,
+            "all_tags": sorted_tags,
+            "filter": {
+                "tags": args.tags,
+                "mode": args.mode,
+                "published_only": args.published_only,
+            },
+            "matched_count": len(filtered),
+            "filtered_workflows": [project_workflow(wf) for wf in filtered],
+        }
+
+    payload = json.dumps(result, ensure_ascii=False, indent=2)
+    if args.output:
+        with open(args.output, "w", encoding="utf-8") as f:
+            f.write(payload)
+        print(f"Wrote {len(workflows)} workflows summary → {args.output}", file=sys.stderr)
+    else:
+        print(payload)
+
+
+if __name__ == "__main__":
+    main()

.github/workflows/ci-check.yml

@@ -38,7 +38,7 @@ jobs:
       - name: Install ROS dependencies, uv and unilabos-msgs
         run: |
           echo Installing ROS dependencies...
-          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
+          mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
 
       - name: Install pip dependencies and unilabos
         run: |

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

@@ -1,6 +1,10 @@
 name: Build Conda-Pack Environment
 
 on:
+  # 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
+  workflow_run:
+    workflows: ["UniLabOS Conda Build"]
+    types: [completed]
   workflow_dispatch:
     inputs:
       branch:
@@ -21,6 +25,16 @@ on:
 
 jobs:
   build-conda-pack:
+    if: |
+      github.event_name == 'workflow_dispatch' ||
+      (
+        github.event_name == 'workflow_run' &&
+        github.event.workflow_run.conclusion == 'success' &&
+        github.event.workflow_run.event == 'workflow_run'
+      )
+    env:
+      BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
+      PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
     strategy:
       fail-fast: false
       matrix:
@@ -54,7 +68,9 @@ jobs:
         id: should_build
         shell: bash
         run: |
-          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
           elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
@@ -65,7 +81,7 @@ jobs:
       - uses: actions/checkout@v6
         if: steps.should_build.outputs.should_build == 'true'
         with:
-          ref: ${{ github.event.inputs.branch }}
+          ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
@@ -75,7 +91,7 @@ jobs:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -86,13 +102,13 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
-          if "${{ github.event.inputs.build_full }}"=="true" (
+          echo Build full: ${{ env.BUILD_FULL }}
+          if "${{ env.BUILD_FULL }}"=="true" (
             echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
           ) else (
             echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
           )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
@@ -101,13 +117,13 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          echo "Build full: ${{ github.event.inputs.build_full }}"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          echo "Build full: ${{ env.BUILD_FULL }}"
+          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
           else
             echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
           fi
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
@@ -134,27 +150,27 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Checking for available ros-humble-unilabos-msgs versions...
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
+          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
           echo.
           echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
 
       - name: Check for newer ros-humble-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "Checking for available ros-humble-unilabos-msgs versions..."
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
+          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
           echo ""
           echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Uninstalling existing unilabos...
           mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
-          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
+          echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
           mamba run -n unilab pip install .
           echo Verifying installation...
           mamba run -n unilab pip show unilabos
@@ -165,7 +181,7 @@ jobs:
         run: |
           echo "Uninstalling existing unilabos..."
           mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
+          echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
           mamba run -n unilab pip install .
           echo "Verifying installation..."
           mamba run -n unilab pip show unilabos
@@ -226,7 +242,9 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Packing unilab environment with conda-pack...
-          mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
+          echo Packing environment at: %UNILAB_PREFIX%
+          mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo Pack file created:
           dir unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -235,8 +253,9 @@ jobs:
         shell: bash
         run: |
           echo "Packing unilab environment with conda-pack..."
-          mamba install conda-pack -c conda-forge -y
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
+          echo "Packing environment at: $UNILAB_PREFIX"
+          mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo "Pack file created:"
           ls -lh unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -267,7 +286,7 @@ jobs:
 
           rem Create README using Python script
           echo Creating: README.txt
-          python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
+          python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
 
           echo.
           echo Distribution package contents:
@@ -303,7 +322,7 @@ jobs:
 
           # Create README using Python script
           echo "Creating: README.txt"
-          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
+          python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
 
           echo ""
           echo "Distribution package contents:"
@@ -314,7 +333,7 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v6
         with:
-          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           path: dist-package/
           retention-days: 90
           if-no-files-found: error
@@ -326,9 +345,9 @@ jobs:
           echo Build Summary
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
-          echo Branch: ${{ github.event.inputs.branch }}
+          echo Branch: ${{ env.PACKAGE_REF }}
           echo Python version: 3.11.14
-          if "${{ github.event.inputs.build_full }}"=="true" (
+          if "${{ env.BUILD_FULL }}"=="true" (
             echo Package: unilabos-full ^(complete^)
           ) else (
             echo Package: unilabos ^(minimal^)
@@ -337,7 +356,7 @@ jobs:
           echo Distribution package contents:
           dir dist-package
           echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           echo.
           echo After download, extract the ZIP and run:
           echo   install_unilab.bat
@@ -351,9 +370,9 @@ jobs:
           echo "Build Summary"
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
-          echo "Branch: ${{ github.event.inputs.branch }}"
+          echo "Branch: ${{ env.PACKAGE_REF }}"
           echo "Python version: 3.11.14"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Package: unilabos-full (complete)"
           else
             echo "Package: unilabos (minimal)"
@@ -362,7 +381,7 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
+          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
           echo ""
           echo "After download:"
           echo "  install_unilab.sh"

.github/workflows/deploy-docs.yml

@@ -56,7 +56,7 @@ jobs:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -66,7 +66,7 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
 
       - name: Install latest unilabos from source
         run: |
@@ -105,7 +105,7 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v5
+        uses: actions/upload-pages-artifact@v4
         if: |
           github.event.workflow_run.head_branch == 'main' ||
           (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')

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

@@ -10,6 +10,9 @@ on:
   # 支持 tag 推送（不依赖 CI Check）
   push:
     tags: ['v*']
+  # GitHub Release 发布时自动构建并上传
+  release:
+    types: [published]
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -80,7 +83,7 @@ jobs:
       - uses: actions/checkout@v6
         with:
           # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
+          ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -96,12 +99,13 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,defaults
+          miniforge-version: latest
+          use-mamba: true
+          channels: conda-forge,robostack-staging
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -110,7 +114,7 @@ jobs:
       - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda install -c conda-forge rattler-build anaconda-client
+          mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
@@ -157,7 +161,13 @@ jobs:
           retention-days: 30
 
       - name: Upload to Anaconda.org (unilab organization)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'release' ||
+            startsWith(github.ref, 'refs/tags/') ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           for package in $(find ./output -name "*.conda"); do
             echo "Uploading $package to unilab organization..."

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

@@ -1,14 +1,10 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 CI Check 成功后自动触发
+  # 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
   workflow_run:
-    workflows: ["CI Check"]
+    workflows: ["Multi-Platform Conda Build"]
     types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
-  push:
-    tags: ['v*']
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -33,30 +29,30 @@ on:
         type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
+  # 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
+  wait-for-upstream:
     runs-on: ubuntu-latest
     if: github.event_name == 'workflow_run'
     outputs:
       should_continue: ${{ steps.check.outputs.should_continue }}
     steps:
-      - name: Check CI status
+      - name: Check upstream workflow status
         id: check
         run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
             echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
+            echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
           else
             echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+            echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
           fi
 
   build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    needs: [wait-for-upstream]
+    # 运行条件：workflow_run 触发且上游成功，或者手动触发
     if: |
       always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
+      (needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -79,7 +75,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          # 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
           ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
@@ -96,12 +92,13 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          miniforge-version: latest
+          use-mamba: true
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -110,7 +107,7 @@ jobs:
       - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda install -c conda-forge rattler-build anaconda-client
+          mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
@@ -119,11 +116,11 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
           echo "Building packages:"
           echo "  - unilabos-env (environment dependencies)"
           echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
             echo "  - unilabos-full (complete package)"
           fi
 
@@ -134,7 +131,12 @@ jobs:
           rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
 
       - name: Upload unilabos-env to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'workflow_run' ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           echo "Uploading unilabos-env to uni-lab organization..."
           for package in $(find ./output -name "unilabos-env*.conda"); do
@@ -149,7 +151,12 @@ jobs:
           rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
 
       - name: Upload unilabos to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'workflow_run' ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           echo "Uploading unilabos to uni-lab organization..."
           for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
@@ -159,6 +166,7 @@ jobs:
       - name: Build unilabos-full - Only when explicitly requested
         if: |
           steps.should_build.outputs.should_build == 'true' && 
+          github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true'
         run: |
           echo "Building unilabos-full package on ${{ matrix.platform }}..."
@@ -167,6 +175,7 @@ jobs:
       - name: Upload unilabos-full to Anaconda.org (if enabled)
         if: |
           steps.should_build.outputs.should_build == 'true' && 
+          github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true' &&
           github.event.inputs.upload_to_anaconda == 'true'
         run: |

plan/2026-05-20_add_two_node.md

@@ -0,0 +1,576 @@
+# Peptide Station 新增三个节点：等待订单完成 + 下料确认 + take-out 同步
+
+> 日期: 2026-05-20  
+> 目标文件: [peptide_station.py](../unilabos/devices/workstation/bioyond_studio/peptide_station/peptide_station.py)  
+> 参考实现:  
+> - [bioyond_cell_workstation.py](/Users/dp/python/yxz/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py)（`wait_for_order_finish`、`get_material_info`）
+> - [bioyond_rpc.py L782-824](../unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py)（`take_out`）
+> - [workstation_architecture.md](../docs/developer_guide/examples/workstation_architecture.md)（HTTP 报送进入 workstation，运行态记录保存在 workstation 内存）
+> 状态: 仅需求草稿，不写代码
+
+---
+
+## 一、需求背景
+
+`BioyondPeptideStation` 当前实验流程在 `start_experiment`（manual_confirm 启动调度器）之后即结束，缺少：
+
+1. **等待奔耀回报实验完成**：调度器跑完后，奔耀通过 LIMS 推送 `POST /report/order_finish` 回调；目前 peptide_station 没有把这条推送封装成 action 节点，下游无法在工作流图上等待结果，也拿不到 `usedMaterials` 等下游所需信息。
+2. **下料引导**：实验完成后操作员需要把样品/产物从仓位里取出，下料前需要看到每个物料对应的 **仓库 / 位置 / 物料名称 / 数量**；下料完成后还需要回写奔耀（调用 `take-out` 接口），让奔耀清空相应库位状态。
+
+本轮新增三个 action 节点，串在 `start_experiment` 之后：
+
+```text
+submit_experiment_dayN
+  -> start_experiment(manual_confirm 上料)
+  -> wait_for_order_finish (等回调 + 生成 unloadTable)
+  -> confirm_unload_materials (manual_confirm 下料确认)
+  -> take_out_materials (调用 take-out 同步奔耀)
+```
+
+---
+
+## 二、关键设计决策
+
+### D1. 本轮只支持单订单，`order_ids` 只做占位
+
+当前不实现多订单等待、乱序回调缓存、并发 wait 隔离。节点输入以 `order_id` 为主，`order_code` 可作为调试兜底。
+
+`order_ids` 可在 handle/返回值中保留为占位字段，但实现只处理第一笔或直接忽略多订单列表。多订单、乱序回调、跨节点重跑复用缓存放到后续迭代。
+
+### D2. `start_experiment` 需要显式透传订单字段
+
+当前 `start_experiment` 只有输入 handles，缺少输出 handles；如果下游 wait 节点要接在 `start_experiment` 之后，必须让 `start_experiment` 透传：
+
+- `order_id`
+- `order_ids`（占位）
+- `order_code`
+- `resultTable`
+
+实现时给 `start_experiment` 增加对应 `ActionOutputHandle`，并在返回值里保留这些字段。`submit_experiment_dayN` 的 `start_experiment` 嵌套字典也应包含 `order_code`，便于工作流编辑器连线。
+
+### D3. `unloadTable` 必须与 `resultTable` 字段一致
+
+`unloadTable` 不新增 `posX/posY/posZ/unit` 列，直接复用现有 `RESULT_TABLE_COLUMNS` 的四列：
+
+```python
+RESULT_TABLE_COLUMNS = [
+    {"name": "设备", "key": "whName"},
+    {"name": "位置", "key": "locationCode"},
+    {"name": "物料名称", "key": "materialName"},
+    {"name": "数量", "key": "quantity"},
+]
+```
+
+`submit_experiment_dayN` 现有上料确认表 `resultTable` 形状如下；`unloadTable` 也必须保持同一 shape，只改 `tableName` 和行数据来源：
+
+```json
+{
+  "data": [
+    {
+      "whName": "自动化堆栈",
+      "locationCode": "A1",
+      "materialName": "96孔板",
+      "quantity": "1"
+    }
+  ],
+  "columns": [
+    {"name": "设备", "key": "whName"},
+    {"name": "位置", "key": "locationCode"},
+    {"name": "物料名称", "key": "materialName"},
+    {"name": "数量", "key": "quantity"}
+  ],
+  "tableName": "resultTable"
+}
+```
+
+`material-info` 官方 schema 中位置坐标字段是 `locations[].x/y/z`，不是 `posX/posY/posZ`。本轮下料表不展示坐标。
+
+### D4. manual_confirm 只做人确认，take-out 放到普通 action
+
+`confirm_unload_materials` 只负责展示下料表、等待操作员确认并透传数据；真正的 `take-out` 调用放到后续普通 action `take_out_materials`。
+
+这样更接近 UniLab manual_confirm 的推荐模式：manual_confirm 是人机确认检查点，副作用由独立普通 action 执行。
+
+### D5. 本轮不做 unload context 缓存
+
+虽然 workstation architecture 文档支持在 workstation 内存保存 HTTP 报送记录，但本轮暂不实现 `unload_context_cache` 或 order report 缓存。
+
+因此本轮限制如下：
+
+- `wait_for_order_finish` 只等待本次进入节点之后到达的 `/report/order_finish`。
+- 如果 push 早于 wait 节点到达，本轮不自动补救。
+- 如果用户在 `confirm_unload_materials` approve 时忘记勾选，节点失败；当前架构不支持原地重新弹出同一个 manual_confirm，也不在本轮实现失败节点重跑。
+- 后续若要支持重跑复用，应在 `BioyondPeptideStation` 实例上新增 station runtime 的 `unload_context_cache`，按 `orderCode` 缓存 `unloadTable/material_ids/order_id` 等上下文。
+
+---
+
+## 三、节点 1：`wait_for_order_finish`（等推送 + 生成 unloadTable）
+
+### 行为
+
+1. 解析单订单目标：
+   - 首选 `order_id`。
+   - 如果没有 `order_code`，通过 `self.hardware_interface.order_report(order_id)` 取返回数据中的 `code` 作为 `orderCode`。
+   - `order_ids` 仅占位，本轮不实现多订单循环。
+2. 设置 `self.last_order_code = order_code`、`self.last_order_report = None`，并 `self.order_finish_event.clear()`。
+3. 阻塞在 `self.order_finish_event.wait(timeout=timeout_seconds)` 等 LIMS 推送。
+4. peptide_station override `process_order_finish_report(report_request, used_materials)`：
+   - 先调用 `super().process_order_finish_report(...)` 保留父类行为（状态发布、物料同步等）。
+   - 当 `report_request.data.orderCode == self.last_order_code` 时，把 `report_request.data` 存入 `self.last_order_report`，并 `set()` event。
+   - 非当前订单推送只记录日志，本轮不缓存。
+5. 解除阻塞后解析 `status`：
+   - `"30"` -> `success`
+   - `"-11"` -> `abnormal_stop`
+   - `"-12"` -> `manual_stop`
+   - 其它 -> `unknown_<status>`
+   - 超时 -> `timeout`
+6. 对 `report.usedMaterials[].materialId` 调用 `self.hardware_interface.material_info(material_id)`，带本地函数级 `material_info_cache` 避免重复请求。
+7. 组装 `unloadTable`、`material_ids`、`preintake_ids`、`unload_summary` 并作为输出 handles 暴露。
+
+### 入参（goal_default）
+
+| 参数 | 类型 | 说明 |
+|------|------|------|
+| `order_id` | `str` | 来自 `start_experiment` 透传输出，必填优先 |
+| `order_code` | `str` | 调试兜底；若已知 orderCode 可跳过 `order_report` 反查 |
+| `order_ids` | `List[str]` | 占位字段；本轮不实现多订单 |
+| `timeout_seconds` | `int` | 默认 `36000`（10h） |
+| `poll_mode` | `bool` | 默认 `False`；如需要可沿用 bioyond_cell 的轮询等待风格 |
+
+### 输出 handles
+
+| key | data_type | 说明 |
+|-----|-----------|------|
+| `order_finish_status` | `str` | `success` / `abnormal_stop` / `manual_stop` / `timeout` / `unknown_*` |
+| `order_finish_report` | `json` | 完整 `report_request.data` |
+| `used_materials` | `json` | JSON 化后的 `usedMaterials` 列表 |
+| `material_ids` | `json` | 从 `used_materials` 抽出的 `materialId` 列表，可为空 |
+| `preintake_ids` | `json` | 本轮默认 `[]`，保留扩展点 |
+| `unloadTable` | `table` | 下料表，字段与 `resultTable` 一致 |
+| `unload_summary` | `json` | `{ "order_code": ..., "total_items": N, "missing_material_info": [...] }` |
+| `order_id` | `str` | 透传给后续节点 |
+| `order_code` | `str` | 透传给后续节点 |
+| `order_ids` | `json` | 占位透传 |
+
+### `unloadTable` 组装规则
+
+返回结构：
+
+```json
+{
+  "data": [
+    {
+      "whName": "自动化堆栈",
+      "locationCode": "A1",
+      "materialName": "多肽产物",
+      "quantity": "10 mg"
+    }
+  ],
+  "columns": [
+    {"name": "设备", "key": "whName"},
+    {"name": "位置", "key": "locationCode"},
+    {"name": "物料名称", "key": "materialName"},
+    {"name": "数量", "key": "quantity"}
+  ],
+  "tableName": "unloadTable"
+}
+```
+
+每行字段：
+
+| key | 数据来源 |
+|-----|----------|
+| `whName` | `material_info.locations` 中匹配 `usedMaterials.locationId` 的 location 的 `whName`；匹配不到取第一条 location 的 `whName`；失败为空串 |
+| `locationCode` | 匹配 location 的 `code`；匹配不到取第一条 location 的 `code`；再兜底 `usedMaterials.locationId` |
+| `materialName` | `material_info.name`；失败为空串 |
+| `quantity` | `usedMaterials.usedQuantity`，若 `material_info.unit` 存在则拼成字符串（如 `"10 mg"`） |
+
+`material-info` 失败时不抛异常，对应行尽量保留 `locationCode` / `quantity`，`whName` 和 `materialName` 用空串，并把 `materialId` 放入 `unload_summary.missing_material_info`。
+
+### 接口依赖
+
+| 接口 | 调用方式 | 用途 |
+|------|----------|------|
+| `process_order_finish_report` 钩子 | 基类 HTTP 服务已注册 | 接 LIMS push |
+| `POST /api/lims/order/order-report` | `self.hardware_interface.order_report(order_id)` | 从 `order_id` 反查 `orderCode` |
+| `POST /api/lims/storage/material-info` | `self.hardware_interface.material_info(material_id)` | 查 `whName/locationCode/materialName/unit` |
+
+#### `order_report(order_id)` API 形式
+
+请求：
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-20T10:50:00.123Z",
+  "data": "<orderId UUID>"
+}
+```
+
+响应中本节点只依赖 `data.code`：
+
+```json
+{
+  "code": 1,
+  "message": null,
+  "timestamp": 1779255000000,
+  "data": {
+    "id": "<orderId UUID>",
+    "name": "实验260520-103000",
+    "code": "EXP260520-103000",
+    "status": 30,
+    "statusName": "完成"
+  }
+}
+```
+
+`BioyondV1RPC.order_report(order_id)` 已经返回响应中的 `data`，所以实现中应读取 `raw.get("code")`，不是 `raw["data"]["code"]`。
+
+#### `material_info(material_id)` API 形式
+
+请求：
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-20T10:50:00.123Z",
+  "data": "<materialId UUID>"
+}
+```
+
+响应中本节点依赖：
+
+```json
+{
+  "id": "<materialId UUID>",
+  "name": "多肽产物",
+  "unit": "mg",
+  "locations": [
+    {
+      "id": "<locationId UUID>",
+      "whid": "<warehouse UUID>",
+      "whName": "自动化堆栈",
+      "code": "A1",
+      "x": 1,
+      "y": 1,
+      "z": 1,
+      "quantity": 10
+    }
+  ]
+}
+```
+
+`BioyondV1RPC.material_info(material_id)` 已经返回响应中的 `data`。字段映射：
+
+| unloadTable key | 来源 |
+|-----------------|------|
+| `whName` | 匹配 `locationId` 的 `locations[].whName` |
+| `locationCode` | 匹配 `locationId` 的 `locations[].code` |
+| `materialName` | `name` |
+| `quantity` | `usedMaterials[].usedQuantity` + `unit` |
+
+### 实现要点
+
+- `BioyondPeptideStation.__init__` 末尾追加 `self.order_finish_event = threading.Event()`、`self.last_order_code = None`、`self.last_order_report = None`。
+- 新增 `process_order_finish_report` override，先 `super()`，再做单订单匹配。
+- `used_materials` 参数是 `MaterialUsage` dataclass 列表；输出前必须转成 JSON dict。
+- `unloadTable` 复用 `RESULT_TABLE_COLUMNS`，不新增 `UNLOAD_TABLE_COLUMNS`。
+
+---
+
+## 四、节点 2：`confirm_unload_materials`（人工下料确认）
+
+### 行为
+
+1. 接收节点 1 输出的 `order_id` / `order_code` / `material_ids` / `preintake_ids` / `unloadTable`。
+2. 进入 `NodeType.MANUAL_CONFIRM` 阻塞，操作员根据 `unloadTable` 物理下料。
+3. 操作员勾选 `materials_unloaded=True` 并 approve 后，节点函数体继续。
+4. 校验 `materials_unloaded == True`：
+   - 为 True：返回确认结果，并透传 `order_id/material_ids/preintake_ids/unloadTable` 给节点 3。
+   - 为 False：抛 `RuntimeError("下料未确认，拒绝继续 take-out")`。
+
+### 入参（goal_default）
+
+| 参数 | 类型 | 说明 |
+|------|------|------|
+| `order_id` | `str` | 来自节点 1，必填 |
+| `order_code` | `str` | 来自节点 1，日志/排错用 |
+| `material_ids` | `List[str]` | 来自节点 1，可为空 |
+| `preintake_ids` | `List[str]` | 来自节点 1，默认 `[]` |
+| `unloadTable` | `table` | 来自节点 1，供人工确认展示 |
+| `materials_unloaded` | `bool` | manual_confirm 勾选字段，默认 `False` |
+| `timeout_seconds` | `int` | 默认 `3600` |
+| `assignee_user_ids` | `List[str]` | `placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"}` |
+
+### 输出 handles
+
+| key | data_type | 说明 |
+|-----|-----------|------|
+| `unload_confirmed` | `bool` | 是否已人工确认下料 |
+| `order_id` | `str` | 透传 |
+| `order_code` | `str` | 透传 |
+| `material_ids` | `json` | 透传 |
+| `preintake_ids` | `json` | 透传 |
+| `unloadTable` | `table` | 透传 |
+
+### 实现要点
+
+- 装饰器使用 `node_type=NodeType.MANUAL_CONFIRM`。
+- `always_free=True`、`placeholder_keys`、`feedback_interval=300` 与现有 `start_experiment` 保持一致。
+- 本节点不调用 `take_out`，只做确认与透传。
+- 忘记勾选后不会自动重新显示下料指引；本轮不实现缓存或失败节点原地重跑。
+
+---
+
+## 五、节点 3：`take_out_materials`（调用 take-out 同步奔耀）
+
+### 行为
+
+1. 接收节点 2 透传的 `order_id` / `material_ids` / `preintake_ids`。
+2. 校验 `order_id` 非空。
+3. 调用 `self.hardware_interface.take_out(order_id, preintake_ids=preintake_ids, material_ids=material_ids)`。
+4. 返回 `take_out_result`、`unloaded_count`、`success`。
+
+### 入参
+
+| 参数 | 类型 | 说明 |
+|------|------|------|
+| `order_id` | `str` | 必填 |
+| `material_ids` | `List[str]` | 可为空；为空时由奔耀按 `orderId` 处理的能力以后现场确认 |
+| `preintake_ids` | `List[str]` | 可为空，默认 `[]` |
+| `order_code` | `str` | 日志/排错用 |
+
+### 输出 handles
+
+| key | data_type | 说明 |
+|-----|-----------|------|
+| `take_out_result` | `json` | `take-out` 原始响应 `{code, message, timestamp, data}` |
+| `unloaded_count` | `int` | `len(material_ids)` |
+| `success` | `bool` | `take_out_result.code == 1` 且 `data` 不为 False |
+
+### 接口依赖
+
+| 接口 | 调用方式 | 用途 |
+|------|----------|------|
+| `POST /api/lims/order/take-out` | `self.hardware_interface.take_out(order_id, preintake_ids, material_ids)` | 通知奔耀同步取出 |
+
+请求体 schema（helper script 已核对）：
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-20T10:50:00.123Z",
+  "data": {
+    "orderId": "<UUID>",
+    "preintakeIds": [],
+    "materialIds": ["<UUID-1>", "<UUID-2>"]
+  }
+}
+```
+
+响应 schema：
+
+```json
+{
+  "code": 1,
+  "message": null,
+  "timestamp": 1779255000000,
+  "data": true
+}
+```
+
+`BioyondV1RPC.take_out(...)` 返回完整响应包，因此 `take_out_materials` 应保留原始包到 `take_out_result`。
+
+### 实现要点
+
+- 本轮不修改 `sample_waste_removal`，保持 backward compatibility。
+- 新节点只调用现有完整能力的 `take_out(...)`。
+- `preintake_ids` / `material_ids` 都按可选列表处理，默认 `[]`。
+- `take-out` 返回 `code != 1` 时返回 `success=False` 并记录 warning；是否抛异常留作开放问题。
+
+---
+
+## 六、端到端工作流连线
+
+```mermaid
+flowchart LR
+    submit["submit_experiment_dayN"] --> start["start_experiment<br/>manual_confirm: 上料"]
+    start -->|order_id, order_code| wait["wait_for_order_finish<br/>等 order_finish + 生成 unloadTable"]
+    wait -->|order_id, material_ids,<br/>preintake_ids, unloadTable| confirm["confirm_unload_materials<br/>manual_confirm: 操作员下料确认"]
+    confirm -->|order_id, material_ids,<br/>preintake_ids| takeout["take_out_materials<br/>调用 take-out 同步奔耀"]
+    bioyond["奔耀 LIMS"] -.HTTP POST /report/order_finish.-> wait
+    wait -.material-info.-> bioyond
+    takeout -.take-out.-> bioyond
+```
+
+---
+
+## 七、影响面与兼容性
+
+- **`peptide_station.py`**
+  - 修改 `start_experiment`：增加 `order_id/order_code/order_ids/resultTable` 输出 handles，并在返回值透传。
+  - 增加 `wait_for_order_finish`、`confirm_unload_materials`、`take_out_materials` 三个 action。
+  - 增加 `process_order_finish_report` override。
+  - 增加 `_build_unload_table(...)` 等私有辅助方法。
+- **`bioyond_rpc.py` 不动**
+  - `take_out` 已有完整 schema 能力。
+  - `sample_waste_removal` 本轮不改，保持兼容。
+- **基类 `station.py` 不动**
+  - override 中保留 `super().process_order_finish_report(...)` 调用。
+- **HTTP 服务不动**
+  - `WorkstationHTTPService` 已支持 `/report/order_finish`。
+- **本轮不做缓存**
+  - 不新增 `unload_context_cache`。
+  - 不支持 push 早于 wait 的自动补救。
+  - 不支持失败 manual_confirm 原地重跑。
+- **测试**：补在现有路径 `unilabos/devices/workstation/bioyond_studio/peptide_station/tests/test_peptide_station_contracts.py`
+  1. `start_experiment` 输出 handles/返回值透传 `order_id/order_code/order_ids/resultTable`。
+  2. `process_order_finish_report` orderCode 匹配 / 不匹配时 event 是否触发。
+  3. `wait_for_order_finish` 单订单成功、超时、状态映射、`used_materials` JSON 化。
+  4. `_build_unload_table` 列顺序严格等于 `RESULT_TABLE_COLUMNS`，且无 `posX/posY/posZ/unit` 列。
+  5. `material-info` 失败时不抛异常，`missing_material_info` 正确记录。
+  6. `confirm_unload_materials` 未勾选时报错，勾选后透传下游字段且不调用 `take_out`。
+  7. `take_out_materials` 调用 `hardware_interface.take_out(order_id, preintake_ids, material_ids)`，不调用 `sample_waste_removal`。
+
+---
+
+## 八、待人类确认的开放问题
+
+1. **过滤产物 vs 全量**：`usedMaterials` 同时包含试剂、耗材、样品（`typeMode` 区分），下料表是否需要默认排除试剂/耗材？当前默认全量列出。
+2. **take-out 失败是否阻塞工作流**：本计划暂定返回 `success=False` 并 warning，不抛异常；如果希望奔耀仓位状态必须一致，可改为抛 `RuntimeError`。
+3. **后续缓存/重跑能力**：如果要支持 push 早到、忘勾选后重跑复用 `unloadTable`，后续应在 `BioyondPeptideStation` station runtime 上实现 `unload_context_cache`，但本轮不做。
+4. **多订单**：本轮只保留 `order_ids` 占位，不实现多订单等待、乱序回调或并发 wait。
+
+---
+
+## 附录 A：API schema 核对摘要
+
+使用 `temp_benyao/scripts/api_helper.py --root temp_benyao/peptide` 核对：
+
+### A.1 `POST /api/lims/storage/material-info`
+
+请求：
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-20T10:50:00.123Z",
+  "data": "<materialId UUID>"
+}
+```
+
+响应关键字段：
+
+```json
+{
+  "id": "<materialId UUID>",
+  "typeName": "样品",
+  "code": "MAT-001",
+  "barCode": "BC-001",
+  "name": "多肽产物",
+  "quantity": 10,
+  "lockQuantity": 0,
+  "unit": "mg",
+  "status": 1,
+  "isUse": true,
+  "locations": [
+    {
+      "id": "<locationId UUID>",
+      "whid": "<warehouse UUID>",
+      "whName": "自动化堆栈",
+      "code": "A1",
+      "x": 1,
+      "y": 1,
+      "z": 1,
+      "quantity": 10
+    }
+  ],
+  "detail": []
+}
+```
+
+注意：schema 没有 `posX/posY/posZ`，本轮也不展示坐标。
+
+### A.2 `POST /api/lims/order/take-out`
+
+请求：
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-20T10:50:00.123Z",
+  "data": {
+    "orderId": "<orderId UUID>",
+    "preintakeIds": [],
+    "materialIds": ["<materialId UUID>"]
+  }
+}
+```
+
+响应：
+
+```json
+{
+  "code": 1,
+  "message": null,
+  "timestamp": 1779255000000,
+  "data": true
+}
+```
+
+源码中已有 `BioyondV1RPC.take_out(order_id, preintake_ids=None, material_ids=None)`，本轮复用它。
+
+### A.3 `/report/order_finish`
+
+`/report/order_finish` 不在 Peptide JSON OpenAPI specs 中；schema 依据：
+
+- `unilabos/devices/workstation/workstation_http_service.py`
+- `temp_benyao/peptide/docs/reference/api_manual.md`
+
+关键字段：
+
+```json
+{
+  "token": "token-from-lims",
+  "request_time": "2026-05-20 10:50:00.123",
+  "data": {
+    "orderCode": "EXP260520-103000",
+    "orderName": "实验260520-103000",
+    "startTime": "2026-05-20 09:00:00",
+    "endTime": "2026-05-20 10:50:00",
+    "status": "30",
+    "usedMaterials": [
+      {
+        "materialId": "<materialId UUID>",
+        "locationId": "<locationId UUID>",
+        "typeMode": "1",
+        "usedQuantity": 10
+      }
+    ]
+  }
+}
+```
+
+`WorkstationHTTPService` 会把 `usedMaterials[]` 转成 `MaterialUsage` dataclass 列表传给 `process_order_finish_report(report_request, used_materials)`；peptide 输出 `used_materials` handle 前需要转回 JSON dict：
+
+```json
+[
+  {
+    "materialId": "<materialId UUID>",
+    "locationId": "<locationId UUID>",
+    "typeMode": "1",
+    "usedQuantity": 10
+  }
+]
+```
+
+---
+
+## 附录 B：本轮不实现的内容
+
+- 不做 station runtime 的 `unload_context_cache`。
+- 不做多订单。
+- 不做 push 早到后的补救。
+- 不做 failed manual_confirm 原地重跑。
+- 不改前端。
+- 不改 `sample_waste_removal`。

plan/2026-05-21_01_peptide_reset_four_checkbox_plan.md

@@ -0,0 +1,461 @@
+# Peptide Four-Checkbox Reset Plan
+
+Date: 2026-05-21 16:30
+Status: Proposal only / not executed
+
+## Scope
+
+This plan replaces `2026-05-21_1556_peptide_reset_sirna_reference_plan.md` for Peptide reset work.
+
+User direction captured here:
+
+- `take_out` is unnecessary for Peptide reset.
+- Do not add a material-cache refresh checkbox.
+- Change reset to four checkbox-controlled operations:
+  - 调度器复位
+  - 订单状态复位
+  - 库位复位
+  - 仪器复位
+- The first three checkboxes default to checked.
+- The fourth checkbox, 仪器复位 / `reset_devices`, defaults to unchecked.
+- Replace the current public `reset` action with:
+  - `reset_auto`: normal ILab action node. This is the renamed/replaced version of the current reset implementation.
+  - `reset_manual`: manual-confirm action node with a physical cleanup confirmation message.
+
+## Evidence Summary
+
+Current Peptide source:
+
+- Reset action code is currently in `unilabos/devices/workstation/bioyond_studio/peptide_station/peptide_station.py`.
+- Current Peptide reset selects `scheduler_reset`, `reset_order_status`, and `reset_location`, and passes ids to order/location resets.
+- `BioyondV1RPC.reset_devices()` already calls `/api/lims/device/reset-devices` with only `apiKey` and `requestTime`.
+- `BioyondV1RPC.scheduler_reset()` already calls `/api/lims/scheduler/reset` with only `apiKey` and `requestTime`.
+- `BioyondV1RPC.reset_order_status(order_id)` and `reset_location(location_id)` currently send `data`, but live probes showed that omitted `data` succeeds.
+
+Live Peptide no-data reset probes using `temp_benyao/peptide/peptide_station_config.example.json`:
+
+- `POST /api/lims/order/reset-order-status` with request keys `["apiKey", "requestTime"]` returned HTTP 200 and `code=1`.
+- `POST /api/lims/scheduler/reset` with request keys `["apiKey", "requestTime"]` returned HTTP 200 and `code=1`.
+- `POST /api/lims/storage/reset-location` with request keys `["apiKey", "requestTime"]` returned HTTP 200 and `code=1`.
+- `reset-devices` was not live-probed in this session, but the current RPC wrapper already sends no `data`.
+
+Raw findings:
+
+- `temp_benyao/peptide/_findings/2026-05-21_1613_reset_order_status_no_data_live.md`
+- `temp_benyao/peptide/_findings/2026-05-21_1615_remaining_resets_no_data_live.md`
+
+## Proposed Public Actions
+
+### `reset_auto`
+
+Normal action node. This is the auto/no-manual-confirm path. It replaces the current public `reset` action; do not leave a second public `reset` action unless a later compatibility request explicitly asks for an alias.
+
+Checkbox schema rule:
+
+- Use plain `bool` annotations in the action signature.
+- Do not use `Annotated[bool, Field(...)]` for these checkbox params in this implementation plan.
+- The current AST registry schema path does not unwrap `Annotated[...]`; plain `bool` is required so generated JSON Schema marks the fields as boolean and the renderer can show checkboxes.
+- Put human-facing labels/descriptions in the method docstring or action description. If field-level `Field(description=...)` metadata is required later, add registry `Annotated` support and a schema test as a separate change.
+
+Decorator shape:
+
+```python
+@action(
+    always_free=True,
+    goal_default={
+        "reset_scheduler": True,
+        "reset_order_status": True,
+        "reset_location": True,
+        "reset_devices": False,
+    },
+    description="自动复位调度器/订单状态/库位，可选仪器复位",
+)
+def reset_auto(
+    self,
+    reset_scheduler: bool = True,
+    reset_order_status: bool = True,
+    reset_location: bool = True,
+    reset_devices: bool = False,
+    **kwargs: Any,
+) -> Dict[str, Any]:
+    """自动复位调度器/订单状态/库位，可选仪器复位。
+
+    Args:
+        reset_scheduler[调度器复位]: 调用 /api/lims/scheduler/reset，默认勾选。
+        reset_order_status[订单状态复位]: 调用 /api/lims/order/reset-order-status，默认勾选。
+        reset_location[库位复位]: 调用 /api/lims/storage/reset-location，默认勾选。
+        reset_devices[仪器复位]: 调用 /api/lims/device/reset-devices，默认不勾选。
+    """
+    ...
+```
+
+Implementation notes:
+
+- Use real plain-`bool` parameters, not hidden `**kwargs` and not `Annotated`, so the action renderer can expose four checkboxes.
+- Rename/replace the existing `reset` action as `reset_auto`; the implementation should not keep the old id-shaped `reset` action as another public path by default.
+- Keep the three routine reset defaults checked.
+- Keep `reset_devices` unchecked because it can be broader and more disruptive.
+- Do not require or resolve order ids or location ids.
+- Do not call `take_out`.
+- Do not call `refresh_material_cache`.
+
+### `reset_manual`
+
+Manual-confirm node. It should show the operator a physical cleanup warning, then execute the same reset helper as `reset_auto` after the operator confirms.
+
+Actual manual-confirm decorator pattern in this repo:
+
+- Use `@action(node_type=NodeType.MANUAL_CONFIRM)`.
+- Set `always_free=True`.
+- Add `placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"}`.
+- Include `timeout_seconds: int` and `assignee_user_ids: list[str]`.
+- Add `goal_default` for `timeout_seconds` and `assignee_user_ids`.
+- Manual-confirm actions are normally side-effect-light, but existing Peptide `start_experiment` is already a `MANUAL_CONFIRM` action that performs scheduler start after the operator gate, so a reset-after-confirm pattern is compatible with current Peptide style.
+
+Proposed confirmation text:
+
+```text
+请确认G3、CEM、Tecan、撕膜机、封膜机、打标机、旋转堆栈上下料位、3个转台等位置的物料已清理完毕；
+请开门检查冰箱、IDOT、酶标仪、离心机、LCMS内部没有遗留物料。
+```
+
+Decorator/function shape:
+
+```python
+RESET_MANUAL_CONFIRM_MESSAGE = (
+    "请确认G3、CEM、Tecan、撕膜机、封膜机、打标机、旋转堆栈上下料位、3个转台等位置的物料已清理完毕；\n"
+    "请开门检查冰箱、IDOT、酶标仪、离心机、LCMS内部没有遗留物料。"
+)
+
+@action(
+    always_free=True,
+    node_type=NodeType.MANUAL_CONFIRM,
+    placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
+    goal_default={
+        "reset_scheduler": True,
+        "reset_order_status": True,
+        "reset_location": True,
+        "reset_devices": False,
+        "physical_cleanup_confirmed": False,
+        "timeout_seconds": 3600,
+        "assignee_user_ids": [],
+    },
+    feedback_interval=300,
+    description=RESET_MANUAL_CONFIRM_MESSAGE,
+)
+def reset_manual(
+    self,
+    reset_scheduler: bool = True,
+    reset_order_status: bool = True,
+    reset_location: bool = True,
+    reset_devices: bool = False,
+    physical_cleanup_confirmed: bool = False,
+    timeout_seconds: int = 3600,
+    assignee_user_ids: Optional[List[str]] = None,
+    **kwargs: Any,
+) -> Dict[str, Any]:
+    """人工确认物理清理后执行复位。
+
+    Args:
+        reset_scheduler[调度器复位]: 调用 /api/lims/scheduler/reset，默认勾选。
+        reset_order_status[订单状态复位]: 调用 /api/lims/order/reset-order-status，默认勾选。
+        reset_location[库位复位]: 调用 /api/lims/storage/reset-location，默认勾选。
+        reset_devices[仪器复位]: 调用 /api/lims/device/reset-devices，默认不勾选。
+        physical_cleanup_confirmed[物理清理确认]: 确认清理提示中的物料检查已经完成，默认不勾选。
+    """
+    ...
+```
+
+Execution rule:
+
+- If `physical_cleanup_confirmed` is false, return a blocked result and do not call any reset API.
+- If it is true, call the same internal helper as `reset_auto`.
+- Return `confirmation_message` in the result payload so call logs preserve the exact operator instruction text.
+
+Renderer caveat:
+
+- `description` should carry the warning in generated action metadata.
+- `physical_cleanup_confirmed` must remain a plain `bool` so it renders as a checkbox.
+- The cleanup warning should be carried by the action `description` and the docstring param description. Do not rely on `Field(description=...)` unless registry `Annotated` support has been implemented and tested.
+- If the current frontend does not show action descriptions or docstring field descriptions reliably, add a read-only string parameter such as `confirmation_message: str = RESET_MANUAL_CONFIRM_MESSAGE` with `goal_default`, or use a handle-based display only after renderer behavior is verified.
+
+## Shared Internal Helper
+
+Both public actions should delegate to one helper, for example:
+
+```python
+def _execute_reset_operations(
+    self,
+    *,
+    reset_scheduler: bool,
+    reset_order_status: bool,
+    reset_location: bool,
+    reset_devices: bool,
+) -> Dict[str, Any]:
+    ...
+```
+
+Call order:
+
+1. `scheduler_reset`
+2. `reset_order_status`
+3. `reset_location`
+4. `reset_devices`
+
+Result shape:
+
+```python
+{
+    "selected_operations": [
+        {"key": "reset_scheduler", "label": "调度器复位", "selected": True},
+        {"key": "reset_order_status", "label": "订单状态复位", "selected": True},
+        {"key": "reset_location", "label": "库位复位", "selected": True},
+        {"key": "reset_devices", "label": "仪器复位", "selected": False},
+    ],
+    "executed_calls": [
+        {"operation": "scheduler_reset", "endpoint": "/api/lims/scheduler/reset", "result": {"code": 1}},
+    ],
+    "skipped_operations": [
+        {"operation": "reset_devices", "reason": "checkbox_disabled"},
+    ],
+    "warnings": [],
+}
+```
+
+Failure handling:
+
+- Execute selected operations sequentially and record each result.
+- If an operation returns non-`1` code, add a warning and continue unless the caller later requests fail-fast.
+- If an RPC method raises, catch it, record an error entry, and continue to the next selected operation unless fail-fast is introduced.
+
+## RPC Wrapper Adjustment
+
+Adjust the two id-shaped wrappers to no-data calls:
+
+- `BioyondV1RPC.reset_order_status()` should no longer require `order_id`.
+- `BioyondV1RPC.reset_location()` should no longer require `location_id`.
+
+Current no-data wrappers already exist:
+
+- `scheduler_reset()`
+- `reset_devices()`
+
+Suggested RPC signatures:
+
+```python
+def scheduler_reset(self) -> int: ...
+def reset_order_status(self) -> int: ...
+def reset_location(self) -> int: ...
+def reset_devices(self) -> int: ...
+```
+
+Compatibility option:
+
+```python
+def reset_order_status(self, order_id: Optional[str] = None) -> int:
+    del order_id
+    ...
+
+def reset_location(self, location_id: Optional[str] = None) -> int:
+    del location_id
+    ...
+```
+
+This keeps older code from crashing while making the actual wire request no-data.
+
+## Adjusted Runtime API Schemas
+
+These are the schemas Peptide reset code should target at runtime after the live no-data probes. They intentionally omit `data`, even though OpenAPI models nullable `data` for these endpoints.
+
+All four requests use:
+
+```json
+{
+  "apiKey": "string",
+  "requestTime": "date-time"
+}
+```
+
+No `data` field should be sent by default.
+
+All four responses use:
+
+```json
+{
+  "code": 1,
+  "message": "",
+  "timestamp": 0
+}
+```
+
+### 调度器复位
+
+Endpoint:
+
+```text
+POST /api/lims/scheduler/reset
+```
+
+Adjusted request:
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-21T08:15:16.494Z"
+}
+```
+
+Live response:
+
+```json
+{
+  "code": 1,
+  "message": "",
+  "timestamp": 1779351316072
+}
+```
+
+Notes:
+
+- OpenAPI says `data` is nullable int32.
+- Live Peptide accepted omitted `data`.
+
+### 订单状态复位
+
+Endpoint:
+
+```text
+POST /api/lims/order/reset-order-status
+```
+
+Adjusted request:
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-21T08:13:34.750Z"
+}
+```
+
+Live response:
+
+```json
+{
+  "code": 1,
+  "message": "",
+  "timestamp": 1779351214422
+}
+```
+
+Notes:
+
+- OpenAPI says `data` is nullable string.
+- Live Peptide accepted omitted `data`.
+- Do not model this as order-id scoped unless Bioyond confirms backend behavior.
+
+### 库位复位
+
+Endpoint:
+
+```text
+POST /api/lims/storage/reset-location
+```
+
+Adjusted request:
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "2026-05-21T08:15:18.924Z"
+}
+```
+
+Live response:
+
+```json
+{
+  "code": 1,
+  "message": "",
+  "timestamp": 1779351318565
+}
+```
+
+Notes:
+
+- OpenAPI says `data` is nullable string.
+- Live Peptide accepted omitted `data`.
+- Do not model this as location-id scoped unless Bioyond confirms backend behavior.
+
+### 仪器复位
+
+Endpoint:
+
+```text
+POST /api/lims/device/reset-devices
+```
+
+Adjusted request:
+
+```json
+{
+  "apiKey": "B10B5995",
+  "requestTime": "date-time"
+}
+```
+
+Expected response shape:
+
+```json
+{
+  "code": 1,
+  "message": "",
+  "timestamp": 0
+}
+```
+
+Notes:
+
+- OpenAPI says `data` is nullable string.
+- Current `BioyondV1RPC.reset_devices()` already sends no `data`.
+- This endpoint was not live-probed in the no-data reset session.
+- Keep checkbox default unchecked.
+
+## Tests To Add Before Implementation
+
+1. `reset_auto` is not `NodeType.MANUAL_CONFIRM`.
+2. `reset_manual` has `node_type=NodeType.MANUAL_CONFIRM`.
+3. `reset_manual` metadata includes:
+   - `always_free=True`
+   - `placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"}`
+   - `timeout_seconds=3600`
+   - `assignee_user_ids=[]`
+   - `physical_cleanup_confirmed=False`
+4. Both reset actions expose four real boolean params:
+   - `reset_scheduler`
+   - `reset_order_status`
+   - `reset_location`
+   - `reset_devices`
+5. The generated registry schema marks those reset params as JSON Schema `type: boolean`, not `object` or `string`, so the frontend can render checkboxes.
+6. `reset_auto` replaces the current public `reset` action. Unless a later compatibility request adds an alias, no old id-shaped public `reset` action remains.
+7. Goal defaults are:
+   - first three reset checkboxes `True`
+   - `reset_devices=False`
+8. `reset_manual(..., physical_cleanup_confirmed=False)` does not call any RPC reset method.
+9. `reset_auto()` with defaults calls:
+   - `scheduler_reset()`
+   - `reset_order_status()`
+   - `reset_location()`
+   - not `reset_devices()`
+10. `reset_auto(reset_devices=True)` also calls `reset_devices()`.
+11. `reset_order_status()` and `reset_location()` RPC wrappers send no `data` key.
+12. No reset path calls `take_out`.
+13. No reset path calls `refresh_material_cache`.
+
+## Non-Goals
+
+- Do not implement `take_out` in reset.
+- Do not refresh `material_cache` from reset.
+- Do not resolve order ids or location ids for reset.
+- Do not add Project/cache/browser cleanup routes.
+- Do not make `reset_devices` default-on.
+- Do not execute this plan during planning.

recipes/conda_build_config.yaml

@@ -1,5 +1,5 @@
 channel_sources:
-  - robostack,robostack-staging,conda-forge,defaults
+  - robostack,robostack-staging,conda-forge
   
 gazebo:
   - '11'

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.11.1
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.19"
+  version: "0.11.1"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.19',
+    version='0.11.1',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.11.1"

unilabos/app/main.py

@@ -12,6 +12,15 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
+# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
+# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
+if sys.platform == "win32":
+    for _stream in (sys.stdout, sys.stderr):
+        try:
+            _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
+        except (AttributeError, OSError):
+            pass
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -2,6 +2,8 @@ import time
 import logging
 from typing import Union, Dict, Optional
 
+from unilabos.registry.decorators import topic_config
+
 
 class VirtualMultiwayValve:
     """
@@ -41,13 +43,11 @@ class VirtualMultiwayValve:
     def target_position(self) -> int:
         return self._target_position
 
-    def get_current_position(self) -> int:
-        """获取当前阀门位置 📍"""
-        return self._current_position
-
-    def get_current_port(self) -> str:
-        """获取当前连接的端口名称 🔌"""
-        return self._current_position
+    @property
+    @topic_config()
+    def current_port(self) -> str:
+        """当前连接的端口名称 🔌"""
+        return self.port
 
     def set_position(self, command: Union[int, str]):
         """
@@ -169,12 +169,14 @@ class VirtualMultiwayValve:
         self._status = "Idle"
         self._valve_state = "Closed"
         
-        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
+        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
         self.logger.info(close_msg)
         return close_msg
 
-    def get_valve_position(self) -> int:
-        """获取阀门位置 - 兼容性方法 📍"""
+    @property
+    @topic_config()
+    def valve_position(self) -> int:
+        """阀门位置 📍"""
         return self._current_position
 
     def set_valve_position(self, command: Union[int, str]):
@@ -229,19 +231,16 @@ class VirtualMultiwayValve:
             self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
             return self.set_to_pump_position()
 
-    def get_flow_path(self) -> str:
-        """获取当前流路路径描述 🌊"""
-        current_port = self.get_current_port()
+    @property
+    @topic_config()
+    def flow_path(self) -> str:
+        """当前流路路径描述 🌊"""
         if self._current_position == 0:
-            flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
-        else:
-            flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
-        
-        # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
-        return flow_path
+            return f"🚰 转移泵已连接 (位置 {self._current_position})"
+        return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
 
     def __str__(self):
-        current_port = self.get_current_port()
+        current_port = self.current_port
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
@@ -253,7 +252,7 @@ if __name__ == "__main__":
     
     print("🔄 === 虚拟九通阀门测试 === ✨")
     print(f"🏠 初始状态: {valve}")
-    print(f"🌊 当前流路: {valve.get_flow_path()}")
+    print(f"🌊 当前流路: {valve.flow_path}")
     
     # 切换到试剂瓶1（1号位）
     print(f"\n🔌 切换到1号位: {valve.set_position(1)}")

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,6 +3,7 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class VirtualStirrer:
@@ -314,9 +315,11 @@ class VirtualStirrer:
     def min_speed(self) -> float:
         return self._min_speed
     
-    def get_device_info(self) -> Dict[str, Any]:
-        """获取设备状态信息 📊"""
-        info = {
+    @property
+    @topic_config()
+    def device_info(self) -> Dict[str, Any]:
+        """设备状态快照信息 📊"""
+        return {
             "device_id": self.device_id,
             "status": self.status,
             "operation_mode": self.operation_mode,
@@ -325,12 +328,9 @@ class VirtualStirrer:
             "is_stirring": self.is_stirring,
             "remaining_time": self.remaining_time,
             "max_speed": self._max_speed,
-            "min_speed": self._min_speed
+            "min_speed": self._min_speed,
         }
-        
-        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
-        return info
-    
+
     def __str__(self):
         status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
         return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,7 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -385,8 +386,10 @@ class VirtualTransferPump:
         """获取当前体积"""
         return self._current_volume
 
-    def get_remaining_capacity(self) -> float:
-        """获取剩余容量"""
+    @property
+    @topic_config()
+    def remaining_capacity(self) -> float:
+        """剩余容量 (ml)"""
         return self.max_volume - self._current_volume
 
     def is_empty(self) -> bool:

unilabos/devices/virtual/workbench.py

@@ -14,20 +14,30 @@ Virtual Workbench Device - 模拟工作台设备
 
 import logging
 import time
-from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
+from typing import Any, Dict, List, Optional, cast
 
 from typing_extensions import TypedDict
 
 from unilabos.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
+    ActionInputHandle,
+    ActionOutputHandle,
+    DataSource,
+    NodeType,
+    action,
+    device,
+    not_action,
+    topic_config,
 )
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
-
+from unilabos.resources.resource_tracker import (
+    SampleUUIDsType,
+    LabSample,
+    ResourceTreeSet,
+)
 
 # ============ TypedDict 返回类型定义 ============
 
@@ -112,6 +122,7 @@ class HeatingStation:
 
 @device(
     id="virtual_workbench",
+    display_name="虚拟工作台",
     category=["virtual_device"],
     description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
 )
@@ -137,7 +148,19 @@ class VirtualWorkbench:
     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):
+    def __init__(
+        self,
+        device_id: Optional[str] = None,
+        config: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+        """
+        初始化虚拟工作台。
+
+        Args:
+            device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
+            config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
+        """
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
             device_id = kwargs.pop("id")
@@ -151,9 +174,13 @@ 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", self.ARM_OPERATION_TIME))
+        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))
+        self.NUM_HEATING_STATIONS = int(
+            self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
+        )
 
         # 机械臂状态和锁
         self._arm_lock = Lock()
@@ -162,7 +189,8 @@ class VirtualWorkbench:
 
         # 加热台状态
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i)
+            for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
         self._stations_lock = RLock()
 
@@ -292,45 +320,113 @@ class VirtualWorkbench:
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
     @action(
-        always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
-            "assignee_user_ids": "unilabos_manual_confirm"
-        }, goal_default={
-            "timeout_seconds": 3600,
-            "assignee_user_ids": []
-        }, feedback_interval=300,
+        always_free=True,
+        node_type=NodeType.MANUAL_CONFIRM,
+        placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
+        goal_default={"timeout_seconds": 3600, "assignee_user_ids": []},
+        feedback_interval=300,
         handles=[
-            ActionInputHandle(key="target_device", data_type="device_id",
-                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="resource", data_type="resource",
-                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="mount_resource", data_type="resource",
-                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
-
-            ActionInputHandle(key="collector_mass", data_type="collector_mass",
-                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="active_material", data_type="active_material",
-                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="capacity", data_type="capacity",
-                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="battery_system", data_type="battery_system",
-                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
+            ActionInputHandle(
+                key="target_device",
+                data_type="device_id",
+                label="目标设备",
+                data_key="target_device",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.HANDLE,
+            ),
             # transfer使用
-            ActionOutputHandle(key="target_device", data_type="device_id",
-                               label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="resource", data_type="resource",
-                              label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="mount_resource", data_type="resource",
-                              label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(
+                key="target_device",
+                data_type="device_id",
+                label="目标设备",
+                data_key="target_device",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource.@flatten",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource.@flatten",
+                data_source=DataSource.EXECUTOR,
+            ),
             # test使用
-            ActionOutputHandle(key="collector_mass", data_type="collector_mass",
-                              label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="active_material", data_type="active_material",
-                              label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="capacity", data_type="capacity",
-                              label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="battery_system", data_type="battery_system",
-                              label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
-        ]
+            ActionOutputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.EXECUTOR,
+            ),
+        ],
     )
     def manual_confirm(
         self,
@@ -343,67 +439,156 @@ class VirtualWorkbench:
         battery_system: List[str],
         timeout_seconds: int,
         assignee_user_ids: list[str],
-        **kwargs
+        **kwargs,
     ) -> dict:
         """
-        timeout_seconds: 超时时间（秒），默认3600秒
-        collector_mass: 极流体质量
-        active_material: 活性物质含量
-        capacity: 克容量（mAh/g）
-        battery_system: 电池体系
-        修改的结果无效，是只读的
+        人工确认资源转移和扣电测试参数。
+
+        Args:
+            resource[待转移资源]: 需要人工确认的资源列表。
+            target_device[目标设备]: 资源要转移到的目标设备 ID。
+            mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
+            collector_mass[极流体质量]: 每个样品对应的极流体质量。
+            active_material[活性物质含量]: 每个样品对应的活性物质含量。
+            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
+            battery_system[电池体系]: 每个样品对应的电池体系名称。
+            timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
+            assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
+
+        Note:
+            修改的结果无效，是只读的。
         """
-        resource = ResourceTreeSet.from_plr_resources(resource).dump()
-        mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
+        resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
+        mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
         kwargs.update(locals())
         kwargs.pop("kwargs")
         kwargs.pop("self")
+        kwargs["resource"] = resource_tree
+        kwargs["mount_resource"] = mount_resource_tree
+        kwargs.pop("resource_tree")
+        kwargs.pop("mount_resource_tree")
         return kwargs
 
     @action(
         description="转移物料",
         handles=[
-            ActionInputHandle(key="target_device", data_type="device_id",
-                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="resource", data_type="resource",
-                               label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="mount_resource", data_type="resource",
-                               label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
-        ]
+            ActionInputHandle(
+                key="target_device",
+                data_type="device_id",
+                label="目标设备",
+                data_key="target_device",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+        ],
     )
-    async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
-        future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
+    async def transfer(
+        self,
+        resource: List[ResourceSlot],
+        target_device: DeviceSlot,
+        mount_resource: List[ResourceSlot],
+    ):
+        """
+        转移资源到目标设备。
+
+        Args:
+            resource[待转移资源]: 待转移的资源列表。
+            target_device[目标设备]: 接收资源的目标设备 ID。
+            mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
+        """
+        future = ROS2DeviceNode.run_async_func(
+            self._ros_node.transfer_resource_to_another,
+            True,
             **{
                 "plr_resources": resource,
                 "target_device_id": target_device,
                 "target_resources": mount_resource,
                 "sites": [None] * len(mount_resource),
-            })
+            },
+        )
         result = await future
         return result
 
-
     @action(
         description="扣电测试启动",
         handles=[
-            ActionInputHandle(key="resource", data_type="resource",
-                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="mount_resource", data_type="resource",
-                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
-
-            ActionInputHandle(key="collector_mass", data_type="collector_mass",
-                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="active_material", data_type="active_material",
-                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="capacity", data_type="capacity",
-                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="battery_system", data_type="battery_system",
-                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
-        ]
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.HANDLE,
+            ),
+        ],
     )
     async def test(
-        self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot],  collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
+        self,
+        resource: List[ResourceSlot],
+        mount_resource: List[ResourceSlot],
+        collector_mass: List[float],
+        active_material: List[float],
+        capacity: List[float],
+        battery_system: list[str],
     ):
+        """
+        启动扣电测试。
+
+        Args:
+            resource[待测试资源]: 需要进行扣电测试的资源列表。
+            mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
+            collector_mass[极流体质量]: 每个样品对应的极流体质量。
+            active_material[活性物质含量]: 每个样品对应的活性物质含量。
+            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
+            battery_system[电池体系]: 每个样品对应的电池体系名称。
+        """
         print(resource)
         print(mount_resource)
         print(collector_mass)
@@ -415,16 +600,11 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
         handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material",
-                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_2", data_type="workbench_material",
-                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_3", data_type="workbench_material",
-                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_4", data_type="workbench_material",
-                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_5", data_type="workbench_material",
-                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),  # noqa: E501
+            ActionOutputHandle(key="channel_2", data_type="workbench_material", label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),  # noqa: E501
+            ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),  # noqa: E501
+            ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),  # noqa: E501
+            ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),  # noqa: E501
         ],
     )
     def prepare_materials(
@@ -437,6 +617,9 @@ class VirtualWorkbench:
 
         作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
         输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
+
+        Args:
+            count[物料数量]: 要生成的物料数量，默认生成 5 个。
         """
         materials = [i for i in range(1, count + 1)]
 
@@ -457,7 +640,11 @@ class VirtualWorkbench:
                 LabSample(
                     sample_uuid=sample_uuid,
                     oss_path="",
-                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
+                    extra=(
+                        {"material_uuid": content}
+                        if isinstance(content, str)
+                        else (content.serialize() if content else {})
+                    ),
                 )
                 for sample_uuid, content in sample_uuids.items()
             ],
@@ -467,12 +654,27 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
         handles=[
-            ActionInputHandle(key="material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
-                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
-                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+            ActionInputHandle(
+                key="material_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionOutputHandle(
+                key="heating_station_output",
+                data_type="workbench_station",
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="material_number_output",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.EXECUTOR,
+            ),
         ],
     )
     def move_to_heating_station(
@@ -484,6 +686,9 @@ class VirtualWorkbench:
         将物料从An位置移动到加热台
 
         多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
+
+        Args:
+            material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
         """
         material_id = f"A{material_number}"
         task_desc = f"移动{material_id}到加热台"
@@ -546,7 +751,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -569,7 +775,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -581,14 +788,34 @@ class VirtualWorkbench:
         always_free=True,
         description="启动指定加热台的加热程序",
         handles=[
-            ActionInputHandle(key="station_id_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="material_number_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
-                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
-                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+            ActionInputHandle(
+                key="station_id_input",
+                data_type="workbench_station",
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="material_number_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionOutputHandle(
+                key="heating_done_station",
+                data_type="workbench_station",
+                label="加热完成-加热台ID",
+                data_key="station_id",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="heating_done_material",
+                data_type="workbench_material",
+                label="加热完成-物料编号",
+                data_key="material_number",
+                data_source=DataSource.EXECUTOR,
+            ),
         ],
     )
     def start_heating(
@@ -599,6 +826,10 @@ class VirtualWorkbench:
     ) -> StartHeatingResult:
         """
         启动指定加热台的加热程序
+
+        Args:
+            station_id[加热台ID]: 要启动加热的加热台编号。
+            material_number[物料编号]: 当前加热台上的物料编号。
         """
         self.logger.info(f"[加热台{station_id}] 开始加热")
 
@@ -615,7 +846,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -638,7 +870,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -658,7 +891,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -698,7 +932,9 @@ class VirtualWorkbench:
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
             if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
+                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:
@@ -715,7 +951,9 @@ class VirtualWorkbench:
                 self._active_tasks[material_id]["status"] = "heating_completed"
 
         self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
+        self.logger.info(
+            f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
+        )
 
         return {
             "success": True,
@@ -729,7 +967,8 @@ class VirtualWorkbench:
                     oss_path="",
                     extra=(
                         {"material_uuid": content}
-                        if isinstance(content, str) else (content.serialize() if content else {})
+                        if isinstance(content, str)
+                        else (content.serialize() if content else {})
                     ),
                 )
                 for sample_uuid, content in sample_uuids.items()
@@ -740,10 +979,20 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从加热台移动到输出位置Cn",
         handles=[
-            ActionInputHandle(key="output_station_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="output_material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+            ActionInputHandle(
+                key="output_station_input",
+                data_type="workbench_station",
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="output_material_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
         ],
     )
     def move_to_output(
@@ -754,6 +1003,10 @@ class VirtualWorkbench:
     ) -> MoveToOutputResult:
         """
         将物料从加热台移动到输出位置Cn
+
+        Args:
+            station_id[加热台ID]: 已完成加热的加热台编号。
+            material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
         """
         output_number = material_number
 
@@ -770,7 +1023,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -794,7 +1048,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -814,7 +1069,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -896,7 +1152,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -779,6 +779,49 @@ class BioyondV1RPC(BaseRequest):
 
         return response.get("data", {})
 
+    def take_out(
+        self,
+        order_id: str,
+        preintake_ids: list[str] | None = None,
+        material_ids: list[str] | None = None,
+    ) -> dict:
+        """取出订单关联通量/物料
+
+        参数:
+            order_id: 订单ID
+            preintake_ids: 通量ID列表，可为空
+            material_ids: 物料ID列表，可为空
+
+        返回值:
+            dict: 服务端响应包，失败返回空字典
+        """
+        if not order_id:
+            self._logger.error("取出订单关联通量/物料错误: 缺少订单ID")
+            return {}
+
+        params = {
+            "orderId": order_id,
+            "preintakeIds": list(preintake_ids or []),
+            "materialIds": list(material_ids or []),
+        }
+
+        response = self.post(
+            url=f'{self.host}/api/lims/order/take-out',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params,
+            })
+
+        if not response:
+            return {}
+
+        if response['code'] != 1:
+            self._logger.error(f"取出订单关联通量/物料错误: {response.get('message', '')}")
+            return response
+
+        return response
+
     def cancel_order(self, json_str: str) -> bool:
         """取消指定任务
 

unilabos/devices/workstation/bioyond_studio/debug_call_log.py

@@ -0,0 +1,459 @@
+"""Per-action raw call/response log for Bioyond stations.
+
+When a debug session is active, ``wrap_rpc_http`` replaces a ``BioyondV1RPC``
+instance's ``post`` / ``get`` methods with closures that perform the HTTP
+transport themselves, capture the request/response details, and append a record
+to the active session before returning exactly what ``BaseRequest`` would have
+returned. Outside of an active session the wrapped method delegates to the
+original (unwrapped) implementation, leaving non-debug behavior intact.
+
+The session writes a Markdown file under ``out_dir`` mirroring the format of
+``bioyond_debug_records/2026-04-30_160316_day3_samplefile_only_raw_calls.md``
+minus the "Raw Payload Argument" section.
+
+This module has no dependency on ``BioyondV1RPC`` itself; the only contract is
+that the wrapped instance descends from ``BaseRequest`` (i.e. has a logger
+returned by ``self.get_logger()``).
+"""
+
+from __future__ import annotations
+
+import contextvars
+import copy
+import inspect
+import json
+import re
+from contextlib import contextmanager
+from dataclasses import dataclass, field
+from datetime import datetime
+from pathlib import Path
+from typing import Any, Iterator, List, Optional
+
+import requests
+
+__all__ = [
+    "CallRecord",
+    "CallLogContext",
+    "session",
+    "wrap_rpc_http",
+    "active_session",
+]
+
+
+_DEFAULT_TIMEOUT_GET = 30
+_DEFAULT_TIMEOUT_POST = 120
+
+
+@dataclass
+class CallRecord:
+    """One captured HTTP call inside a debug session."""
+
+    index: int
+    method: str
+    url: str
+    path: str
+    source: str
+    transport: str
+    http_status: Optional[int]
+    request_body: Any
+    response_body: Any
+    error: Optional[str] = None
+
+
+@dataclass
+class CallLogContext:
+    """State for a single ``session()`` block.
+
+    A session lazily creates its file on the first appended record. Actions
+    that abort before any RPC produce no file.
+    """
+
+    action: str
+    out_dir: Path
+    started_at: datetime
+    calls: List[CallRecord] = field(default_factory=list)
+    file_path: Optional[Path] = None
+
+    def append(self, record: CallRecord) -> None:
+        record.index = len(self.calls) + 1
+        self.calls.append(record)
+        self._write_file()
+
+    # -- file I/O -------------------------------------------------------------
+
+    def _resolve_file_path(self) -> Path:
+        if self.file_path is not None:
+            return self.file_path
+        timestamp = self.started_at.strftime("%Y-%m-%d_%H%M%S")
+        slug = _slugify_action(self.action)
+        candidate = self.out_dir / f"{timestamp}_{slug}_raw_calls.md"
+        suffix = 2
+        while candidate.exists():
+            candidate = (
+                self.out_dir
+                / f"{timestamp}_{slug}_raw_calls_{suffix:02d}.md"
+            )
+            suffix += 1
+        self.file_path = candidate
+        return self.file_path
+
+    def _write_file(self) -> None:
+        path = self._resolve_file_path()
+        path.parent.mkdir(parents=True, exist_ok=True)
+        path.write_text(_render_markdown(self), encoding="utf-8")
+
+
+_active_session: contextvars.ContextVar[Optional[CallLogContext]] = (
+    contextvars.ContextVar("_active_session", default=None)
+)
+
+
+def active_session() -> Optional[CallLogContext]:
+    """Return the currently active :class:`CallLogContext`, if any."""
+    return _active_session.get()
+
+
+@contextmanager
+def session(action: str, out_dir: Path) -> Iterator[CallLogContext]:
+    """Open a per-action debug session.
+
+    On entry, sets the module-level ``_active_session`` ContextVar so any
+    ``wrap_rpc_http``'d clients on the same thread/task record their calls.
+    On exit, the previous active session (if any) is restored.
+    """
+    ctx = CallLogContext(
+        action=str(action),
+        out_dir=Path(out_dir),
+        started_at=datetime.now(),
+    )
+    token = _active_session.set(ctx)
+    try:
+        yield ctx
+    finally:
+        _active_session.reset(token)
+
+
+def wrap_rpc_http(rpc: Any) -> None:
+    """Idempotently wrap ``rpc.post`` / ``rpc.get``.
+
+    When a session is active (``_active_session.get() is not None``), the
+    wrapped methods perform the HTTP call themselves with ``requests`` and
+    record the call before returning the same value ``BaseRequest`` would have
+    returned. When no session is active, the wrapped methods delegate to the
+    original implementation, preserving stock ``BaseRequest`` behavior.
+
+    Calling this twice on the same instance is a no-op. The wrapper does not
+    alter ``rpc.form_post`` (no Sirna action calls it as of plan 3).
+    """
+    if rpc is None:
+        return
+    if getattr(rpc, "_debug_call_log_wrapped", False):
+        return
+
+    rpc._orig_post = rpc.post
+    rpc._orig_get = rpc.get
+
+    def _wrapped_post(
+        url: str,
+        params: Any = None,
+        files: Any = None,
+        headers: Optional[dict] = None,
+    ) -> Any:
+        ctx = _active_session.get()
+        if ctx is None:
+            kwargs = {}
+            if params is not None:
+                kwargs["params"] = params
+            if files is not None:
+                kwargs["files"] = files
+            if headers is not None:
+                kwargs["headers"] = headers
+            return rpc._orig_post(url, **kwargs)
+        effective_params = params if params is not None else {}
+        effective_headers = (
+            headers
+            if headers is not None
+            else {"Content-Type": "application/json"}
+        )
+        source = _detect_source(rpc)
+        request_body = _redact(effective_params)
+        record = CallRecord(
+            index=0,
+            method="POST",
+            url=str(url),
+            path=_url_path(url),
+            source=source,
+            transport=_pick_transport(effective_params),
+            http_status=None,
+            request_body=request_body,
+            response_body=None,
+            error=None,
+        )
+        return_value: Any = None
+        try:
+            response = requests.post(
+                url,
+                data=json.dumps(effective_params) if effective_params else None,
+                headers=effective_headers,
+                timeout=_DEFAULT_TIMEOUT_POST,
+                files=files,
+            )
+        except Exception as exc:  # pragma: no cover - delegated to logger
+            record.error = f"transport error: {exc}"
+            try:
+                rpc.get_logger().error(f"Request ERROR: {exc}")
+            except Exception:
+                pass
+            ctx.append(record)
+            return None
+
+        record.http_status = response.status_code
+        record.response_body, parse_error = _decode_response_body(response)
+        try:
+            rpc.get_logger().debug(
+                f"Request >>> : {response.request.body} "
+                f"{response.status_code} {response.text}"
+            )
+        except Exception:
+            pass
+
+        if response.status_code == 200:
+            if parse_error is not None:
+                record.error = f"json parse error: {parse_error}"
+                return_value = None
+            else:
+                return_value = record.response_body
+        else:
+            record.error = f"HTTP {response.status_code}: {response.text}"
+            try:
+                rpc.get_logger().error(
+                    f"Request ERROR: ('Request ERROR:', {response.text!r})"
+                )
+            except Exception:
+                pass
+            return_value = None
+
+        ctx.append(record)
+        return return_value
+
+    def _wrapped_get(
+        url: str,
+        params: Any = None,
+        headers: Optional[dict] = None,
+    ) -> Any:
+        ctx = _active_session.get()
+        if ctx is None:
+            kwargs = {}
+            if params is not None:
+                kwargs["params"] = params
+            if headers is not None:
+                kwargs["headers"] = headers
+            return rpc._orig_get(url, **kwargs)
+        effective_params = params if params is not None else {}
+        effective_headers = (
+            headers
+            if headers is not None
+            else {"Content-Type": "application/json"}
+        )
+        source = _detect_source(rpc)
+        request_body = _redact(effective_params)
+        record = CallRecord(
+            index=0,
+            method="GET",
+            url=str(url),
+            path=_url_path(url),
+            source=source,
+            transport="params",
+            http_status=None,
+            request_body=request_body,
+            response_body=None,
+            error=None,
+        )
+        return_value: Any = None
+        try:
+            response = requests.get(
+                url,
+                params=effective_params,
+                headers=effective_headers,
+                timeout=_DEFAULT_TIMEOUT_GET,
+            )
+        except Exception as exc:  # pragma: no cover - delegated to logger
+            record.error = f"transport error: {exc}"
+            try:
+                rpc.get_logger().error(f"Request ERROR: {exc}")
+            except Exception:
+                pass
+            ctx.append(record)
+            return None
+
+        record.http_status = response.status_code
+        record.response_body, parse_error = _decode_response_body(response)
+        try:
+            rpc.get_logger().debug(
+                f"Request >>> : {effective_params} "
+                f"{response.status_code} {response.text}"
+            )
+        except Exception:
+            pass
+
+        if response.status_code == 200:
+            if parse_error is not None:
+                record.error = f"json parse error: {parse_error}"
+                return_value = None
+            else:
+                return_value = record.response_body
+
+        ctx.append(record)
+        return return_value
+
+    rpc.post = _wrapped_post
+    rpc.get = _wrapped_get
+    rpc._debug_call_log_wrapped = True
+
+
+# ---------------------------------------------------------------------------
+# Helpers
+# ---------------------------------------------------------------------------
+
+
+_URL_PATH_RE = re.compile(r"https?://[^/]+(/.*)?$")
+_SLUG_RE = re.compile(r"[^A-Za-z0-9._-]+")
+
+
+def _slugify_action(action: str) -> str:
+    slug = _SLUG_RE.sub("_", str(action)).strip("_")
+    return slug or "action"
+
+
+def _url_path(url: Any) -> str:
+    text = str(url or "")
+    match = _URL_PATH_RE.match(text)
+    if match and match.group(1):
+        return match.group(1)
+    if text.startswith("/"):
+        return text
+    return text
+
+
+def _pick_transport(params: Any) -> str:
+    if isinstance(params, dict) and "data" in params:
+        return "data"
+    return "params"
+
+
+def _detect_source(rpc: Any) -> str:
+    """Walk the call stack to find the outermost frame whose ``self`` is rpc."""
+    try:
+        stack = inspect.stack()
+    except Exception:
+        return ""
+    candidate = ""
+    try:
+        for frame_info in stack:
+            frame = frame_info.frame
+            if frame.f_locals.get("self", None) is rpc:
+                candidate = frame_info.function
+        return candidate
+    finally:
+        del stack
+
+
+def _redact(params: Any) -> Any:
+    """Return a copy of ``params`` with ``apiKey`` redacted."""
+    try:
+        cloned = copy.deepcopy(params)
+    except Exception:
+        return params
+    _redact_in_place(cloned)
+    return cloned
+
+
+def _redact_in_place(value: Any) -> None:
+    if isinstance(value, dict):
+        for key in list(value.keys()):
+            if isinstance(key, str) and key.lower() == "apikey":
+                value[key] = "<redacted>"
+            else:
+                _redact_in_place(value[key])
+    elif isinstance(value, list):
+        for item in value:
+            _redact_in_place(item)
+
+
+def _decode_response_body(response: Any) -> tuple[Any, Optional[str]]:
+    """Best-effort response decoding used for both record + return value."""
+    text = getattr(response, "text", "")
+    try:
+        return response.json(), None
+    except Exception as exc:
+        if text:
+            return {"raw_text": text}, str(exc)
+        return None, str(exc)
+
+
+# ---------------------------------------------------------------------------
+# Markdown rendering
+# ---------------------------------------------------------------------------
+
+
+def _render_markdown(ctx: CallLogContext) -> str:
+    title = f"# {ctx.action} Raw Call/Response Log"
+    parts: List[str] = [title, ""]
+    parts.append("## LIMS Calls")
+    parts.append("")
+    parts.append("| # | Method | Path | Source | HTTP |")
+    parts.append("|---|---|---|---|---|")
+    for record in ctx.calls:
+        anchor = _row_anchor(record)
+        http = (
+            f"`{record.http_status}`"
+            if record.http_status is not None
+            else "`-`"
+        )
+        parts.append(
+            f"| [{record.index}](#{anchor}) | `{record.method}` | "
+            f"`{record.path}` | `{record.source}` | {http} |"
+        )
+    parts.append("")
+
+    for record in ctx.calls:
+        parts.append(f"## {record.index} {record.method} {record.path}")
+        parts.append("")
+        parts.append(f"- Source: `{record.source}`")
+        parts.append(f"- Transport: `{record.transport}`")
+        if record.http_status is not None:
+            parts.append(f"- HTTP status: `{record.http_status}`")
+        else:
+            parts.append("- HTTP status: `-`")
+        if record.error:
+            parts.append(f"- Error: {record.error}")
+        parts.append("")
+        parts.append("### Request Body")
+        parts.append("")
+        parts.append("```json")
+        parts.append(_to_json_block(record.request_body))
+        parts.append("```")
+        parts.append("")
+        parts.append("### Response Body")
+        parts.append("")
+        parts.append("```json")
+        parts.append(_to_json_block(record.response_body))
+        parts.append("```")
+        parts.append("")
+
+    return "\n".join(parts).rstrip() + "\n"
+
+
+def _row_anchor(record: CallRecord) -> str:
+    """Build a GitHub-style anchor matching ``## N METHOD /path``."""
+    raw = f"{record.index}-{record.method}-{record.path}"
+    raw = raw.lower()
+    raw = re.sub(r"[^a-z0-9]+", "-", raw)
+    return raw.strip("-")
+
+
+def _to_json_block(value: Any) -> str:
+    try:
+        return json.dumps(value, ensure_ascii=False, indent=2, sort_keys=True)
+    except TypeError:
+        return json.dumps(str(value), ensure_ascii=False, indent=2)

unilabos/devices/workstation/bioyond_studio/peptide_station/__init__.py

@@ -0,0 +1,3 @@
+from .peptide_station import BioyondPeptideStation, fetch_workflow_list, load_peptide_config
+
+__all__ = ["BioyondPeptideStation", "fetch_workflow_list", "load_peptide_config"]

unilabos/devices/workstation/bioyond_studio/peptide_station/tests/test_peptide_station_contracts.py

@@ -0,0 +1,681 @@
+"""多肽站 AST/参数/结果表 离线契约测试。"""
+
+from __future__ import annotations
+
+import importlib
+import inspect
+import json
+import sys
+from pathlib import Path
+from typing import Any, Dict, List
+from unittest.mock import MagicMock
+
+import pytest
+
+REPO_ROOT = Path(__file__).resolve().parents[6]
+if str(REPO_ROOT) not in sys.path:
+    sys.path.insert(0, str(REPO_ROOT))
+
+MODULE_PATH = "unilabos.devices.workstation.bioyond_studio.peptide_station.peptide_station"
+CLASS_NAME = "BioyondPeptideStation"
+
+ORDER_GUID = "3a20eabe-bad5-ef95-49bd-7ffbd5df189d"
+CREATE_ALLOCATION = {
+    ORDER_GUID: [
+        {
+            "materialId": "mat-tip",
+            "materialName": "200μL枪头盒",
+            "materialCode": "0008-00105",
+            "quantity": "1个",
+            "materialTypeMode": "Consumables",
+            "locationCode": "1-01",
+            "locationShowName": "1-01",
+        },
+        {
+            "materialId": "mat-plate",
+            "materialName": "96孔板",
+            "materialCode": "PLATE-96",
+            "quantity": "1",
+            "materialTypeMode": "Sample",
+            "locationCode": "A1",
+            "locationShowName": "A1-show",
+        },
+        {
+            "materialId": "mat-extra",
+            "materialName": "未知耗材",
+            "materialCode": "X-1",
+            "quantity": "2",
+            "materialTypeMode": "Future",
+            "locationCode": "Z9",
+            "locationShowName": "",
+        },
+    ]
+}
+
+FLATTENED_LIVE = [
+    {"step": "39c78d4b-b5d3-f721-2001-9d52000084c3", "step_name": "S1", "Key": "SampleFile", "m": 0, "n": 0, "Value": "", "DisplayValue": "", "TaskDisplayable": 1},
+    {"step": "39c78d4b-b5d3-f721-2001-9d52000084c3", "step_name": "S1", "Key": "Example", "m": 0, "n": 0, "Value": "x", "DisplayValue": "x", "TaskDisplayable": 1},
+    {"step": "39c78d4b-b5d3-f721-2001-9d52000084c4", "step_name": "S2", "Key": "protocol", "m": 14, "n": 28, "Value": "", "DisplayValue": "", "TaskDisplayable": 1},
+    {"step": "39c78d4b-b5d3-f721-2001-9d52000084c5", "step_name": "S3", "Key": "CEMMethodFileName", "m": 0, "n": 0, "Value": "", "DisplayValue": "", "TaskDisplayable": 1},
+]
+
+
+def _import_module() -> Any:
+    return importlib.import_module(MODULE_PATH)
+
+
+def _make_station() -> Any:
+    module = _import_module()
+    cls = getattr(module, CLASS_NAME)
+    station = object.__new__(cls)
+    station.bioyond_config = {"api_host": "http://test", "api_key": "k", "warehouse_mapping": {}}
+    rpc = MagicMock()
+    rpc.host = "http://test"
+    rpc.api_key = "k"
+    rpc.material_info.return_value = {"locations": [{"whName": "自动化堆栈", "code": "1-01"}]}
+    station.hardware_interface = rpc
+    return station
+
+
+# ---------------------------------------------------------------------------
+# 1. AST/导入面
+# ---------------------------------------------------------------------------
+
+
+def test_required_actions_exposed() -> None:
+    cls = getattr(_import_module(), CLASS_NAME)
+    required = {
+        "upload_sample_excel",
+        "list_sample_excels",
+        "get_step_parameters",
+        "submit_experiment",
+        "submit_experiment_day1",
+        "submit_experiment_day2",
+        "submit_experiment_day3",
+        "submit_experiment_day4",
+        "submit_experiment_day4_LCMS",
+        "start_experiment",
+        "reset",
+        "scheduler_start",
+        "scheduler_stop",
+        "scheduler_pause",
+        "scheduler_continue",
+        "get_order_list",
+        "get_order_report",
+        "get_aggregated_order_report",
+    }
+    have = {name for name, _ in inspect.getmembers(cls, inspect.isfunction)}
+    missing = sorted(required - have)
+    assert not missing, f"缺少动作: {missing}"
+
+
+def test_manual_confirm_node_types() -> None:
+    module = _import_module()
+    cls = getattr(module, CLASS_NAME)
+    manual = {"submit_experiment_day1", "start_experiment"}
+    normal = {
+        "submit_experiment",
+        "submit_experiment_day2",
+        "submit_experiment_day3",
+        "submit_experiment_day4",
+        "submit_experiment_day4_LCMS",
+        "reset",
+        "scheduler_start",
+        "list_sample_excels",
+        "get_step_parameters",
+        "get_order_list",
+        "get_order_report",
+    }
+    for name in manual:
+        meta = getattr(getattr(cls, name), "_action_registry_meta", {})
+        assert meta.get("node_type") == module.NodeType.MANUAL_CONFIRM, name
+    for name in normal:
+        meta = getattr(getattr(cls, name), "_action_registry_meta", {})
+        assert meta.get("node_type") != module.NodeType.MANUAL_CONFIRM, name
+
+
+def test_submit_and_reset_signatures_exclude_legacy_manual_confirm() -> None:
+    cls = getattr(_import_module(), CLASS_NAME)
+    for name in (
+        "submit_experiment",
+        "submit_experiment_day2",
+        "submit_experiment_day3",
+        "submit_experiment_day4",
+        "submit_experiment_day4_LCMS",
+        "reset",
+    ):
+        params = inspect.signature(getattr(cls, name)).parameters
+        assert "timeout_seconds" not in params, name
+        assert "assignee_user_ids" not in params, name
+
+
+def test_day1_submit_accepts_manual_confirm_kwargs() -> None:
+    """plan: Day1 是 MANUAL_CONFIRM；框架会注入 timeout_seconds/assignee_user_ids，函数必须能接收。"""
+    cls = getattr(_import_module(), CLASS_NAME)
+    sig = inspect.signature(cls.submit_experiment_day1)
+    has_kwargs = any(p.kind == inspect.Parameter.VAR_KEYWORD for p in sig.parameters.values())
+    assert has_kwargs, "submit_experiment_day1 必须有 **kwargs 以容纳人工确认框架字段"
+
+
+def test_typed_dicts_present() -> None:
+    module = _import_module()
+    for cls_name in (
+        "PeptideGenericSubmitRequiredParams",
+        "PeptideGenericSubmitOptionalParams",
+        "PeptideDay1RequiredParams",
+        "PeptideDay1OptionalParams",
+        "PeptideDay2RequiredParams",
+        "PeptideDay2OptionalParams",
+        "PeptideDay3RequiredParams",
+        "PeptideDay3OptionalParams",
+        "PeptideDay4RequiredParams",
+        "PeptideDay4OptionalParams",
+        "PeptideDay4LCMSRequiredParams",
+        "PeptideDay4LCMSOptionalParams",
+    ):
+        assert hasattr(module, cls_name), cls_name
+
+
+def test_workflow_constants_split() -> None:
+    module = _import_module()
+    assert module.DAY4_PEPTIDE_WORKFLOW_NAME == "Day4环肽酰化-酶标"
+    assert module.DAY4_LCMS_PEPTIDE_WORKFLOW_NAME == "Day4环肽酰化-酶标+LCMS"
+    assert module.DAY_WORKFLOW_BINDINGS["day4_lcms"]["sub_name"] == "Day4环肽酰化-酶标LCMS"
+    assert module.DAY1_CEM_METHOD_DEFAULT == "5microdouble-20250911.MPM"
+
+
+# ---------------------------------------------------------------------------
+# 2. Sample Excel
+# ---------------------------------------------------------------------------
+
+
+def test_list_sample_excels_modes() -> None:
+    station = _make_station()
+    records = [
+        {"fileName": "DPR019-a.xlsx", "relativePath": "upload\\sample\\DPR019-a.xlsx"},
+        {"fileName": "DPR019-b.xlsx", "relativePath": "upload\\sample\\DPR019-b.xlsx"},
+    ]
+    station._list_sample_excels = MagicMock(return_value=records)  # type: ignore[method-assign]
+
+    info = station.list_sample_excels(sample_excel_pattern="DPR019-a", deterministic_resolve=False)
+    assert "sample_excel_data" in info
+    assert "sample_excel_relative_path" not in info
+
+    resolved = station.list_sample_excels(sample_excel_pattern="DPR019-a", deterministic_resolve=True)
+    assert resolved["sample_excel_relative_path"] == "upload\\sample\\DPR019-a.xlsx"
+
+    with pytest.raises(Exception):
+        station.list_sample_excels(sample_excel_pattern="DPR019", deterministic_resolve=True)
+
+
+def test_resolve_submit_sample_file_direct_path() -> None:
+    station = _make_station()
+    relative, selected = station._resolve_submit_sample_file({}, {}, "upload/sample/x.xlsx")
+    assert relative == "upload\\sample\\x.xlsx"
+    assert selected["fileName"] == "x.xlsx"
+
+
+def test_filename_matches_pattern_substring_and_glob() -> None:
+    station = _make_station()
+    assert station._filename_matches_pattern("DPR019-20260421-thrombin-5.xlsx", "DPR019")
+    assert station._filename_matches_pattern("a.xlsx", "*.xlsx")
+    assert not station._filename_matches_pattern("a.xlsx", "*.docx")
+    assert station._filename_matches_pattern("a.xlsx", "")
+
+
+# ---------------------------------------------------------------------------
+# 3. Step parameter helper
+# ---------------------------------------------------------------------------
+
+
+def test_filter_step_parameters_preserves_zero_and_skips_unknown() -> None:
+    station = _make_station()
+    records = [
+        {"TaskDisplayable": 1, "Value": 0, "DisplayValue": ""},
+        {"TaskDisplayable": 1, "Value": "", "DisplayValue": ""},
+        {"TaskDisplayable": 0, "Value": "", "DisplayValue": ""},
+        {"TaskDisplayable": None, "Value": "", "DisplayValue": ""},
+    ]
+    filtered = station._filter_step_parameter_records(records, True, True, True)
+    assert {(r.get("Value"), r.get("TaskDisplayable")) for r in filtered} == {(0, 1), ("", 1), ("", 0)}
+
+
+def test_get_step_parameters_zero_match_returns_status() -> None:
+    station = _make_station()
+    station._query_workflow_records = MagicMock(return_value=[])  # type: ignore[method-assign]
+    out = station.get_step_parameters(workflow_name_filter="不存在")
+    status = out["step_parameters_raw_json"]
+    assert status.get("code") == -1
+    assert out["filtered_subworkflows"] == []
+
+
+def test_get_step_parameters_multi_match_returns_status() -> None:
+    station = _make_station()
+    station._query_workflow_records = MagicMock(return_value=[  # type: ignore[method-assign]
+        {"workflowId": "w1", "workflowName": "A", "subworkflowId": "s1", "subworkflowName": "A1"},
+        {"workflowId": "w1", "workflowName": "A", "subworkflowId": "s2", "subworkflowName": "A2"},
+    ])
+    out = station.get_step_parameters(workflow_name_filter="A")
+    assert out["step_parameters_raw_json"].get("code") == 0
+    assert len(out["filtered_subworkflows"]) == 2
+
+
+def test_get_step_parameters_direct_sub_workflow_id() -> None:
+    station = _make_station()
+    station._query_step_parameters = MagicMock(return_value={  # type: ignore[method-assign]
+        "39c78d4b-b5d3-f721-2001-9d52000084c3": [
+            {"name": "S1", "m": 0, "n": 0, "parameterList": [
+                {"Key": "SampleFile", "TaskDisplayable": 1, "Value": "", "DisplayValue": ""},
+            ]},
+        ]
+    })
+    out = station.get_step_parameters(sub_workflow_id="39c78d4b-b5d3-f721-2001-9d52000084c3")
+    augmented = out["step_parameters_raw_json"]
+    assert augmented["code"] == 1
+    assert any(p["Key"] == "SampleFile" for p in augmented["data"]["filteredParameters"])
+
+
+# ---------------------------------------------------------------------------
+# 4. Partial parameter entries + live resolution
+# ---------------------------------------------------------------------------
+
+
+def test_partial_entries_inject_samplefile_and_overrides() -> None:
+    station = _make_station()
+    entries, warnings = station._build_partial_parameter_entries(
+        sample_excel_relative_path="upload\\sample\\f.xlsx",
+        day_key="day2",
+        parameter_overrides=[{"Key": "Example", "Value": 0}],
+    )
+    assert entries[0] == {"Key": "SampleFile", "Value": "upload\\sample\\f.xlsx"}
+    assert any(e["Key"] == "Example" and e["Value"] == 0 for e in entries)
+    assert warnings == []
+
+
+def test_day1_partial_entries_inject_cem_default() -> None:
+    station = _make_station()
+    entries, _ = station._build_partial_parameter_entries(
+        sample_excel_relative_path="upload\\sample\\f.xlsx",
+        day_key="day1",
+        extra_autofill=[{"Key": "CEMMethodFileName", "Value": "5microdouble-20250911.MPM"}],
+    )
+    assert any(e["Key"] == "CEMMethodFileName" and e["Value"] == "5microdouble-20250911.MPM" for e in entries)
+
+
+def test_overrides_duplicate_last_write_wins_warning() -> None:
+    station = _make_station()
+    entries, warnings = station._build_partial_parameter_entries(
+        sample_excel_relative_path="x",
+        day_key="day2",
+        parameter_overrides=[
+            {"Key": "Example", "m": 0, "n": 0, "Value": "first"},
+            {"Key": "Example", "m": 0, "n": 0, "Value": "second"},
+        ],
+    )
+    example_entries = [e for e in entries if e["Key"] == "Example"]
+    assert len(example_entries) == 1
+    assert example_entries[0]["Value"] == "second"
+    assert any("重复" in w for w in warnings)
+
+
+def test_resolve_against_live_unique_match_and_failure() -> None:
+    station = _make_station()
+    resolved = station._resolve_parameter_entries_against_live_steps(
+        [{"Key": "SampleFile", "Value": "upload\\sample\\f.xlsx"}], FLATTENED_LIVE
+    )
+    assert resolved[0]["step"] == "39c78d4b-b5d3-f721-2001-9d52000084c3"
+    assert resolved[0]["m"] == 0 and resolved[0]["n"] == 0
+    # 没有 protocol 在 m/n=0/0 处 → 0 匹配
+    with pytest.raises(Exception) as exc:
+        station._resolve_parameter_entries_against_live_steps(
+            [{"Key": "protocol", "m": 0, "n": 0, "Value": "v"}], FLATTENED_LIVE
+        )
+    assert "0 条" in str(exc.value)
+
+
+def test_group_resolved_entries_uses_lowercase_keys() -> None:
+    station = _make_station()
+    grouped = station._group_resolved_entries_to_param_values([
+        {"step": "39c78d4b-b5d3-f721-2001-9d52000084c3", "Key": "SampleFile", "m": 0, "n": 0, "Value": "x"},
+    ])
+    step_entries = grouped["39c78d4b-b5d3-f721-2001-9d52000084c3"]
+    assert step_entries[0] == {"key": "SampleFile", "value": "x", "m": 0, "n": 0}
+
+
+def test_create_order_payload_shape() -> None:
+    station = _make_station()
+    payload = station._create_order_payload(
+        order_code="EXP260518-103000",
+        order_name="实验260518-103000",
+        sub_workflow_id="3a1d35f9-63ce-67d6-1784-9f6abcca4eda",
+        param_values={"39c78d4b-b5d3-f721-2001-9d52000084c3": [{"key": "SampleFile", "value": "x", "m": 0, "n": 0}]},
+        border_number=1,
+        extend_properties=None,
+    )
+    assert isinstance(payload, list) and len(payload) == 1
+    item = payload[0]
+    assert item["workFlowId"] == "3a1d35f9-63ce-67d6-1784-9f6abcca4eda"
+    assert item["paramValues"]
+    assert item["extendProperties"] == ""
+    assert item["borderNumber"] == 1
+
+
+def test_order_identity_format() -> None:
+    station = _make_station()
+    code, name = station._build_order_identity("day2")
+    assert code.startswith("EXP") and len(code) == 16  # EXP + YYMMDD-HHmmss
+    assert name.startswith("实验")
+    code2, name2 = station._build_order_identity("day2", "自定义")
+    assert name2 == "自定义"
+
+
+# ---------------------------------------------------------------------------
+# 5. Generic submit / day wrappers (含会抦住 BUG 1 的用例)
+# ---------------------------------------------------------------------------
+
+
+def _wire_submit_pipeline(station: Any) -> None:
+    station._resolve_workflow_binding_from_names = MagicMock(return_value={  # type: ignore[method-assign]
+        "workflow_name": "DAY2多肽定量",
+        "root_workflow_id": "3a1d35f0-9436-895b-2eda-039a5465275e",
+        "sub_workflow_id": "3a1d35f0-9f7e-c2c1-0bc0-8d94b81d90ca",
+        "sub_workflow_name": "DAY2多肽定量",
+        "raw": {},
+    })
+    station._resolve_workflow_binding = MagicMock(side_effect=lambda day_key: station._resolve_workflow_binding_from_names("DAY2多肽定量"))  # type: ignore[method-assign]
+    station._query_step_parameters = MagicMock(return_value={})  # type: ignore[method-assign]
+    station._flatten_step_parameters = MagicMock(return_value=FLATTENED_LIVE)  # type: ignore[method-assign]
+    station._create_order = MagicMock(return_value=json.dumps(CREATE_ALLOCATION))  # type: ignore[method-assign]
+
+
+def test_submit_experiment_generic_succeeds() -> None:
+    """plan §「Generic And Day 1 Submit」line 919-924；这条同时抦住 BUG 1（binding= 关键字）。"""
+    station = _make_station()
+    _wire_submit_pipeline(station)
+    result = station.submit_experiment(
+        {"workflow_name": "DAY2多肽定量", "sample_excel_pattern": ""},
+        {"parameter_overrides": []},
+        sample_excel_relative_path="upload/sample/f.xlsx",
+    )
+    assert result["success"] is True
+    assert result["order_id"] == ORDER_GUID
+    assert result["resultTable"]["tableName"] == "resultTable"
+
+
+def test_submit_experiment_rejects_day1_alias() -> None:
+    station = _make_station()
+    with pytest.raises(Exception):
+        station.submit_experiment(
+            {"workflow_name": "Day1线肽合成", "sample_excel_pattern": "x"},
+            {},
+            sample_excel_relative_path="upload/sample/f.xlsx",
+        )
+
+
+def test_submit_experiment_day2_calls_pipeline() -> None:
+    station = _make_station()
+    _wire_submit_pipeline(station)
+    result = station.submit_experiment_day2(
+        {"sample_excel_pattern": ""},
+        {"parameter_overrides": []},
+        sample_excel_relative_path="upload/sample/f.xlsx",
+    )
+    assert result["success"] is True
+    assert result["order_ids"] == [ORDER_GUID]
+    assert result["auto_register_materials"] is True
+    assert result["material_registration"]["status"] == "not_implemented"
+
+
+def test_day1_placeholder_does_not_call_create_order() -> None:
+    station = _make_station()
+    station._resolve_workflow_binding = MagicMock(return_value={  # type: ignore[method-assign]
+        "workflow_name": "Day1线肽合成",
+        "root_workflow_id": "rid",
+        "sub_workflow_id": "sid",
+        "sub_workflow_name": "Day1线肽合成",
+        "raw": {},
+    })
+    station._create_order = MagicMock(side_effect=AssertionError("Day1 不应触达 create_order"))  # type: ignore[method-assign]
+    out = station.submit_experiment_day1(
+        {"sample_excel_pattern": "", "cem_method_file_name": ""},
+        {},
+        sample_excel_relative_path="upload/sample/f.xlsx",
+        # 模拟人工确认框架注入的字段（这条会抦住 BUG 3）
+        timeout_seconds=3600,
+        assignee_user_ids=[],
+        materials_loaded=False,
+    )
+    assert out["status"] == "manual_confirm_placeholder"
+    assert out["cem_method_file_name"] == "5microdouble-20250911.MPM"
+    assert isinstance(out["partial_parameter_entries"], list)
+
+
+# ---------------------------------------------------------------------------
+# 6. Allocation map parsing + resultTable
+# ---------------------------------------------------------------------------
+
+
+def test_parse_allocation_map_extracts_order_id_and_groups() -> None:
+    station = _make_station()
+    parsed = station._parse_create_order_allocation_map(json.dumps(CREATE_ALLOCATION))
+    assert parsed["order_ids"] == [ORDER_GUID]
+    assert len(parsed["allocation_rows"]) == 3
+    assert set(parsed["materials_by_type"].keys()) == {"Consumables", "Sample", "Future"}
+
+
+def test_parse_allocation_map_handles_python_str_repr() -> None:
+    """RPC.create_order 返回的是 str(dict)，含单引号。"""
+    station = _make_station()
+    parsed = station._parse_create_order_allocation_map(str(CREATE_ALLOCATION))
+    assert parsed["order_ids"] == [ORDER_GUID]
+
+
+def test_parse_allocation_map_empty() -> None:
+    station = _make_station()
+    parsed = station._parse_create_order_allocation_map("{}")
+    assert parsed["allocation_rows"] == []
+    assert parsed["order_ids"] == []
+
+
+def test_build_result_table_order_and_columns() -> None:
+    station = _make_station()
+    parsed = station._parse_create_order_allocation_map(json.dumps(CREATE_ALLOCATION))
+    table = station._build_result_table(parsed["materials_by_type"])
+    assert table["tableName"] == "resultTable"
+    assert [c["key"] for c in table["columns"]] == ["whName", "locationCode", "materialName", "quantity"]
+    # 顺序：Sample → Consumables → Future（未知 mode 保留在末尾）
+    names = [row["materialName"] for row in table["data"]]
+    assert names == ["96孔板", "200μL枪头盒", "未知耗材"]
+    # locationShowName 优先 locationCode
+    assert table["data"][0]["locationCode"] == "A1-show"
+    assert table["data"][1]["locationCode"] == "1-01"
+
+
+def test_build_result_table_empty_returns_empty_data() -> None:
+    station = _make_station()
+    table = station._build_result_table({})
+    assert table["data"] == []
+    assert [c["key"] for c in table["columns"]] == ["whName", "locationCode", "materialName", "quantity"]
+
+
+def test_resolve_wh_name_handles_material_info_failure() -> None:
+    station = _make_station()
+    station.hardware_interface.material_info.side_effect = RuntimeError("HTTP 500")
+    cache: Dict[str, Dict[str, Any]] = {}
+    assert station._resolve_wh_name_by_material_id("mat-1", cache) == ""
+
+
+def test_submit_returns_warning_when_allocation_empty() -> None:
+    station = _make_station()
+    _wire_submit_pipeline(station)
+    station._create_order = MagicMock(return_value="{}")  # type: ignore[method-assign]
+    result = station.submit_experiment_day2(
+        {"sample_excel_pattern": ""},
+        {},
+        sample_excel_relative_path="upload/sample/f.xlsx",
+    )
+    assert "create_order_allocation_unavailable_for_result_table" in result["warnings"]
+
+
+# ---------------------------------------------------------------------------
+# 7. Reports + workflow records
+# ---------------------------------------------------------------------------
+
+
+def test_get_order_list_passes_json_string() -> None:
+    station = _make_station()
+    station.hardware_interface.order_query.return_value = {"items": [], "totalCount": 0}
+    station.get_order_list(filter_text="abc", page_count=10)
+    args, kwargs = station.hardware_interface.order_query.call_args
+    payload = json.loads(args[0])
+    assert payload["filter"] == "abc"
+    assert payload["pageCount"] == 10
+
+
+def test_get_order_report_calls_typed_rpc() -> None:
+    station = _make_station()
+    station.hardware_interface.order_report.return_value = {"id": ORDER_GUID, "name": "x", "preIntakes": [], "resultList": []}
+    out = station.get_order_report(ORDER_GUID)
+    station.hardware_interface.order_report.assert_called_once_with(ORDER_GUID)
+    assert out["success"] is True
+    assert out["summary"]["id"] == ORDER_GUID
+
+
+def test_get_aggregated_order_report_is_todo_placeholder() -> None:
+    station = _make_station()
+    out = station.get_aggregated_order_report(ORDER_GUID)
+    assert out["status"] == "not_implemented"
+
+
+def test_query_workflow_records_filters_unsaved_subworkflows() -> None:
+    station = _make_station()
+    station.hardware_interface.query_workflow.return_value = {
+        "items": [
+            {
+                "id": "rid",
+                "name": "Day3线肽环化",
+                "subWorkflows": [
+                    {"id": "saved-id", "name": "Day3线肽环化", "isSaved": True},
+                    {"id": "draft-id", "name": "Day3线肽环化-草稿", "isSaved": False},
+                ],
+            }
+        ]
+    }
+    records = station._query_workflow_records("Day3线肽环化")
+    assert [r["subworkflowId"] for r in records] == ["saved-id"]
+
+
+# ---------------------------------------------------------------------------
+# 8. Debug / fetch_workflow_list 守护
+# ---------------------------------------------------------------------------
+
+
+def test_module_fetch_workflow_list_is_debug_guarded() -> None:
+    module = _import_module()
+    assert module.DEBUG_CLI_ENABLED is False
+    with pytest.raises(AssertionError):
+        module.fetch_workflow_list(config={"api_host": "http://x", "api_key": "k"})
+
+
+def test_station_fetch_workflow_list_uses_rpc() -> None:
+    station = _make_station()
+    station.hardware_interface.query_workflow.return_value = {"items": [], "totalCount": 0}
+    station.fetch_workflow_list(filter_text="Day2")
+    args, _ = station.hardware_interface.query_workflow.call_args
+    payload = json.loads(args[0])
+    assert payload["filter"] == "Day2"
+    assert payload["includeDetail"] is True
+
+
+# ---------------------------------------------------------------------------
+# 9. start_experiment 装载闸门
+# ---------------------------------------------------------------------------
+
+
+def test_start_experiment_blocks_when_materials_not_loaded() -> None:
+    station = _make_station()
+    station.hardware_interface.scheduler_start.return_value = 1
+    with pytest.raises(RuntimeError):
+        station.start_experiment(
+            order_id=ORDER_GUID,
+            resultTable={"data": [{"materialName": "x"}]},
+            materials_loaded=False,
+        )
+
+
+def test_start_experiment_starts_when_table_empty() -> None:
+    station = _make_station()
+    station.hardware_interface.scheduler_start.return_value = 1
+    result = station.start_experiment(order_id=ORDER_GUID, resultTable={"data": []})
+    assert result["success"] is True
+    assert result["order_ids"] == [ORDER_GUID]
+
+
+# ---------------------------------------------------------------------------
+# 10. Reset
+# ---------------------------------------------------------------------------
+
+
+def test_reset_signature_drops_legacy_params_and_uses_literal() -> None:
+    """plan 调整：删除 dry_run/order_id/location_id；reset_operations 用 Literal 注解。"""
+    cls = getattr(_import_module(), CLASS_NAME)
+    sig = inspect.signature(cls.reset)
+    params = sig.parameters
+    for legacy in ("dry_run", "order_id", "location_id"):
+        assert legacy not in params, f"reset 不应再有 {legacy} 入参"
+    assert "reset_operations" in params
+    assert any(p.kind == inspect.Parameter.VAR_KEYWORD for p in params.values()), \
+        "reset 必须保留 **kwargs 以兜底 reset_order_id/reset_location_id"
+
+    annotation = params["reset_operations"].annotation
+    rendered = annotation if isinstance(annotation, str) else repr(annotation)
+    for op in ("scheduler_reset", "reset_order_status", "reset_location"):
+        assert op in rendered, f"reset_operations 的 Literal 必须包含 {op}"
+
+
+def test_reset_goal_default_contains_all_operations() -> None:
+    """像 sirna 一样，goal_default 默认勾选全部三个 reset 操作。"""
+    cls = getattr(_import_module(), CLASS_NAME)
+    meta = getattr(cls.reset, "_action_registry_meta", {})
+    goal_default = meta.get("goal_default") or {}
+    assert goal_default.get("reset_operations") == [
+        "scheduler_reset",
+        "reset_order_status",
+        "reset_location",
+    ]
+
+
+def test_reset_executes_typed_rpc_calls() -> None:
+    station = _make_station()
+    station.hardware_interface.scheduler_reset.return_value = 1
+    station.hardware_interface.reset_order_status.return_value = 1
+    station.hardware_interface.reset_location.return_value = 1
+    out = station.reset(
+        reset_operations=["scheduler_reset", "reset_order_status", "reset_location"],
+        reset_order_id=ORDER_GUID,
+        reset_location_id="loc-1",
+    )
+    station.hardware_interface.scheduler_reset.assert_called_once_with()
+    station.hardware_interface.reset_order_status.assert_called_once_with(ORDER_GUID)
+    station.hardware_interface.reset_location.assert_called_once_with("loc-1")
+    assert out["selected_operations"] == [
+        "scheduler_reset",
+        "reset_order_status",
+        "reset_location",
+    ]
+    assert len(out["executed_calls"]) == 3
+    assert out["skipped_operations"] == []
+
+
+def test_reset_skips_when_ids_missing() -> None:
+    """没有 order_id / location_id 时应该 skip 而不是抛错。"""
+    station = _make_station()
+    station.hardware_interface.scheduler_reset.return_value = 1
+    out = station.reset(
+        reset_operations=["scheduler_reset", "reset_order_status", "reset_location"],
+    )
+    station.hardware_interface.scheduler_reset.assert_called_once_with()
+    station.hardware_interface.reset_order_status.assert_not_called()
+    station.hardware_interface.reset_location.assert_not_called()
+    skipped_ops = {item["operation"] for item in out["skipped_operations"]}
+    assert skipped_ops == {"reset_order_status", "reset_location"}

unilabos/devices/workstation/bioyond_studio/station.py

@@ -7,6 +7,7 @@ Bioyond Workstation Implementation
 import time
 import traceback
 import threading
+from contextlib import contextmanager
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union
 import json
@@ -14,6 +15,7 @@ from pathlib import Path
 
 from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC
+from unilabos.devices.workstation.bioyond_studio import debug_call_log
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.resources.warehouse import WareHouse
 from unilabos.utils.log import logger
@@ -54,13 +56,17 @@ class ConnectionMonitor:
     def _monitor_loop(self):
         while self._running:
             try:
-                # 使用 lightweight API 检查连接
-                # query_matial_type_list 是比较快的查询
-                start_time = time.time()
-                result = self.workstation.hardware_interface.material_type_list()
+                # 使用轻量级调度状态接口检查连接，避免启动时打印完整物料类型列表。
+                result = self.workstation.hardware_interface.scheduler_status()
 
                 status = "online" if result else "offline"
-                msg = "Connection established" if status == "online" else "Failed to get material type list"
+                if status == "online":
+                    msg = (
+                        f"Scheduler status={result.get('status')}, "
+                        f"hasTask={result.get('hasTask')}"
+                    )
+                else:
+                    msg = "Failed to get scheduler status"
 
                 if status != self._last_status:
                     logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
@@ -174,6 +180,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 logger.warning("从Bioyond获取的物料数据为空")
                 return False
 
+            self._update_material_cache_from_stock(all_bioyond_data)
+
             # 转换为UniLab格式
             unilab_resources = resource_bioyond_to_plr(
                 all_bioyond_data,
@@ -187,6 +195,29 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             logger.error(f"从Bioyond同步物料数据失败: {e}")
             return False
 
+    def _update_material_cache_from_stock(self, materials: List[Dict[str, Any]]) -> None:
+        """用本次库存查询结果同步 RPC 的 name -> material id 缓存。"""
+        material_cache = getattr(self.bioyond_api_client, "material_cache", None)
+        if not isinstance(material_cache, dict):
+            return
+
+        before_count = len(material_cache)
+        for material in materials:
+            material_name = material.get("name")
+            material_id = material.get("id")
+            if material_name and material_id:
+                material_cache[material_name] = material_id
+
+            for detail_material in material.get("detail", []) or []:
+                detail_name = detail_material.get("name")
+                detail_id = detail_material.get("detailMaterialId") or detail_material.get("id")
+                if detail_name and detail_id:
+                    material_cache[detail_name] = detail_id
+
+        logger.debug(
+            f"已用Bioyond库存同步物料缓存: {before_count} -> {len(material_cache)}"
+        )
+
     def sync_to_external(self, resource: Any) -> bool:
         """将本地物料数据变更同步到Bioyond系统"""
         try:
@@ -678,6 +709,70 @@ class BioyondWorkstation(WorkstationBase):
     集成Bioyond物料管理的工作站实现
     """
 
+    # 子类（如 sirna / peptide）覆写以指定默认 raw-call 日志目录。
+    # 路径相对仓库根；为 None 时若 debug_log=True 仍会写入临时位置。
+    _DEBUG_LOG_DEFAULT_DIR: Optional[str] = None
+
+    def _create_bioyond_rpc(self, config: Dict[str, Any]) -> BioyondV1RPC:
+        """创建 Bioyond RPC 客户端并应用调试包装。
+
+        所有创建 ``BioyondV1RPC`` 的路径（饿汉初始化、Sirna 延迟初始化、
+        以及未来的前端重新配置路径）都应通过该 helper，
+        以确保 debug_log 包装与命名/日志策略保持一致。
+        """
+        rpc = BioyondV1RPC(config)
+        debug_call_log.wrap_rpc_http(rpc)
+        return rpc
+
+    def _set_hardware_interface(self, rpc: BioyondV1RPC) -> BioyondV1RPC:
+        """将已构造的 RPC 客户端设置到 ``self.hardware_interface``，并应用调试包装。"""
+        debug_call_log.wrap_rpc_http(rpc)
+        self.hardware_interface = rpc
+        return rpc
+
+    def _debug_log_resolved_dir(self) -> Path:
+        """解析 ``debug_log_dir`` 为绝对路径。"""
+        configured = (getattr(self, "bioyond_config", {}) or {}).get("debug_log_dir")
+        default_dir = getattr(self, "_DEBUG_LOG_DEFAULT_DIR", None)
+        candidate = configured or default_dir or "bioyond_debug_records"
+        path = Path(candidate)
+        if not path.is_absolute():
+            repo_root = Path(__file__).resolve().parents[4]
+            path = repo_root / path
+        return path
+
+    def _ensure_debug_log_state(self) -> None:
+        """从 ``self.bioyond_config`` 派生 ``_debug_log_enabled`` / ``_debug_log_dir``。
+
+        每次进入 ``_debug_call_session`` 时都重新解析，以兼容前端在运行时
+        修改 ``bioyond_config['debug_log']`` 或目录的场景；同时也容忍
+        子类（如 Sirna 延迟初始化）在 ``__init__`` 早期未触发本方法。
+        """
+        cfg = getattr(self, "bioyond_config", {}) or {}
+        self._debug_log_enabled = bool(cfg.get("debug_log"))
+        self._debug_log_dir = self._debug_log_resolved_dir()
+
+    @contextmanager
+    def _debug_call_session(self, action_name: str):
+        """在 action 体外加一层 debug 会话上下文。
+
+        - ``debug_log`` 关闭时是空上下文，开销为 0。
+        - ``debug_log`` 开启时进入 :func:`debug_call_log.session`，所有
+          已被 ``wrap_rpc_http`` 包装过的 RPC 客户端都会捕获本次 action
+          产生的 HTTP 调用并写入 Markdown 文件。
+
+        子类（如 ``end_experiment``、``manual_unload`` 等）可以直接在
+        action 体里以 ``with self._debug_call_session("action_name"):`` 包裹。
+        """
+        cfg = getattr(self, "bioyond_config", {}) or {}
+        enabled = bool(cfg.get("debug_log"))
+        if not enabled:
+            yield None
+            return
+        out_dir = BioyondWorkstation._debug_log_resolved_dir(self)
+        with debug_call_log.session(action_name, out_dir) as ctx:
+            yield ctx
+
     def _publish_task_status(
         self,
         task_id: str,
@@ -862,7 +957,7 @@ class BioyondWorkstation(WorkstationBase):
             self.bioyond_config = {}
             print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
 
-        self.hardware_interface = BioyondV1RPC(self.bioyond_config)
+        self.hardware_interface = self._create_bioyond_rpc(self.bioyond_config)
 
     def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
         """添加资源到资源树并更新ROS节点
@@ -1338,11 +1433,7 @@ class BioyondWorkstation(WorkstationBase):
             if self.hardware_interface:
                 self.hardware_interface.scheduler_reset()
 
-            # 刷新物料缓存
-            if self.hardware_interface:
-                self.hardware_interface.refresh_material_cache()
-
-            # 重新同步资源
+            # 重新同步资源，并用同一次库存查询结果更新物料缓存
             if self.resource_synchronizer:
                 self.resource_synchronizer.sync_from_external()
 

unilabos/registry/ast_registry_scanner.py

@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
 
 MAX_SCAN_DEPTH = 10      # 最大目录递归深度
 MAX_SCAN_FILES = 1000    # 最大扫描文件数量
-_CACHE_VERSION = 1       # 缓存格式版本号，格式变更时递增
+_CACHE_VERSION = 2       # 缓存格式版本号，格式变更时递增
 
 # 合法的装饰器来源模块
 _REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
@@ -258,8 +258,6 @@ def scan_directory(
     }
 
 
-
-
 # ---------------------------------------------------------------------------
 # File-level parsing
 # ---------------------------------------------------------------------------
@@ -361,6 +359,7 @@ def _parse_file(
                     "actions": class_body.get("actions", {}),
                     "status_properties": class_body.get("status_properties", {}),
                     "init_params": class_body.get("init_params", []),
+                    "init_docstring": class_body.get("init_docstring"),
                     "auto_methods": class_body.get("auto_methods", {}),
                     "import_map": import_map,
                 }
@@ -497,7 +496,6 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
     return import_map
 
 
-
 # ---------------------------------------------------------------------------
 # Decorator finding & argument extraction
 # ---------------------------------------------------------------------------
@@ -768,6 +766,7 @@ def _extract_class_body(
         "actions": {},          # method_name -> action_info
         "status_properties": {},  # prop_name -> status_info
         "init_params": [],      # [{"name": ..., "type": ..., "default": ...}, ...]
+        "init_docstring": None,
         "auto_methods": {},     # method_name -> method_info (no @action decorator)
     }
 
@@ -780,6 +779,7 @@ def _extract_class_body(
         # --- __init__ ---
         if method_name == "__init__":
             result["init_params"] = _extract_method_params(item, import_map)
+            result["init_docstring"] = ast.get_docstring(item)
             continue
 
         # --- Skip private/dunder ---

unilabos/registry/devices/Qone_nmr.yaml

@@ -51,14 +51,18 @@ Qone_nmr:
               properties:
                 check_interval:
                   default: 60
+                  description: 检查间隔时间（秒），默认60秒
                   type: string
                 expected_count:
                   default: 1
+                  description: 期望生成的.nmr文件数量，默认1个
                   type: string
                 monitor_dir:
+                  description: 要监督的目录路径，如果未指定则使用self.monitor_directory
                   type: string
                 stability_checks:
                   default: 3
+                  description: 文件大小稳定性检查次数，默认3次
                   type: string
               required: []
               type: object
@@ -85,11 +89,14 @@ Qone_nmr:
             goal:
               properties:
                 output_dir:
+                  description: 输出目录（如果未指定，使用self.output_directory）
                   type: string
                 string_list:
+                  description: 字符串列表
                   type: string
                 txt_encoding:
                   default: utf-8
+                  description: 文件编码
                   type: string
               required:
               - string_list
@@ -151,6 +158,13 @@ Qone_nmr:
               additionalProperties: false
               properties:
                 string:
+                  description: '包含多个字符串的输入数据，支持两种格式：
+
+                    1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
+
+                    2. 换行分隔：如 "A 1 B 2 C 3
+
+                    X 10 Y 20 Z 30"'
                   type: string
               title: StrSingleInput_Goal
               type: object

unilabos/registry/devices/bioyond_cell.yaml

@@ -491,14 +491,17 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
+                  description: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2]
                   items:
                     type: string
                   type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
+                  description: 物料类型ID
                   type: string
                 warehouse_name:
                   default: 粉末加样头堆栈
+                  description: 目标仓库名（用于取位置信息）
                   type: string
               required: []
               type: object
@@ -527,12 +530,16 @@ bioyond_cell:
             goal:
               properties:
                 location_name_or_id:
+                  description: 具体库位名称（如 A01）或库位 UUID，由用户指定。
                   type: string
                 material_name:
+                  description: 物料名称（会优先匹配配置模板）。
                   type: string
                 type_id:
+                  description: 物料类型 ID（若为空则尝试从配置推断）。
                   type: string
                 warehouse_name:
+                  description: 需要入库的仓库名称；若为空则仅创建不入库。
                   type: string
               required:
               - material_name
@@ -661,15 +668,20 @@ bioyond_cell:
             goal:
               properties:
                 board_type:
+                  description: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
                   type: string
                 bottle_type:
+                  description: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
                   type: string
                 location_code:
+                  description: 库位编号，例如 "A01"
                   type: string
                 name:
+                  description: 物料名称
                   type: string
                 warehouse_name:
                   default: 手动堆栈
+                  description: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
                   type: string
               required:
               - name
@@ -1956,19 +1968,19 @@ bioyond_cell:
               properties:
                 source_wh_id:
                   default: 3a19debc-84b4-0359-e2d4-b3beea49348b
-                  description: 来源仓库ID
+                  description: 来源仓库 Id (默认为3号仓库)
                   type: string
                 source_x:
                   default: 1
-                  description: 来源位置X坐标
+                  description: 来源位置 X 坐标
                   type: integer
                 source_y:
                   default: 1
-                  description: 来源位置Y坐标
+                  description: 来源位置 Y 坐标
                   type: integer
                 source_z:
                   default: 1
-                  description: 来源位置Z坐标
+                  description: 来源位置 Z 坐标
                   type: integer
               required: []
               type: object
@@ -2061,9 +2073,11 @@ bioyond_cell:
             goal:
               properties:
                 order_code:
+                  description: 任务编号
                   type: string
                 timeout:
                   default: 36000
+                  description: 超时时间（秒）
                   type: integer
               required:
               - order_code
@@ -2092,12 +2106,15 @@ bioyond_cell:
             goal:
               properties:
                 order_code:
+                  description: 任务编号
                   type: string
                 poll_interval:
                   default: 0.5
+                  description: 轮询间隔（秒），默认 0.5 秒
                   type: number
                 timeout:
                   default: 36000
+                  description: 超时时间（秒）
                   type: integer
               required:
               - order_code
@@ -2154,10 +2171,15 @@ bioyond_cell:
     config:
       properties:
         bioyond_config:
+          description: '从 JSON 文件加载的 bioyond 配置字典
+
+            包含 api_host, api_key, HTTP_host, HTTP_port 等配置'
           type: object
         deck:
+          description: Deck 配置（可选，会从 JSON 中自动处理）
           type: string
         protocol_type:
+          description: 协议类型（可选）
           type: string
       required: []
       type: object

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -47,8 +47,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 report_request:
+                  description: WorkstationReportRequest 对象，包含任务完成信息
                   type: string
                 used_materials:
+                  description: 物料使用记录列表
                   type: string
               required:
               - report_request
@@ -102,6 +104,7 @@ bioyond_dispensing_station:
             goal:
               properties:
                 material_name:
+                  description: 物料名称
                   type: string
               required:
               - material_name
@@ -611,10 +614,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 target_device_id:
-                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  description: 目标反应站设备ID(所有转移组使用同一个设备)
                   type: string
                 transfer_groups:
-                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
+                  description: '转移任务组列表,每组包含:'
                   type: array
               required:
               - target_device_id
@@ -694,10 +697,13 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
+          description: 配置字典,应包含material_type_mappings等配置
           type: object
         deck:
+          description: Deck对象
           type: string
         protocol_type:
+          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -150,15 +150,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力(N)
+                  description: 电池压制力 (N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁步骤
+                  description: 是否忽略电池清洁
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -166,29 +166,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积(μL)
+                  description: 二次滴液第一次排液体积 (μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
                   type: boolean
                 elec_num:
                   description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装电池数
+                  description: 每瓶电解液组装的电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量(μL)
+                  description: 电解液吸液量 (μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -196,7 +196,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 负极片矩阵点位
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -204,7 +204,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 隔膜矩阵点位
                   type: integer
                 gemopanshu:
                   default: 0
@@ -216,7 +216,7 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 枪头盒矩阵点位
                   type: integer
               required:
               - elec_num
@@ -308,7 +308,13 @@ coincellassemblyworkstation_device:
               properties:
                 material_search_enable:
                   default: false
-                  description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+                  description: '是否启用物料搜寻功能。
+
+                    设备初始化后会弹出物料搜寻确认弹窗，
+
+                    此参数控制自动点击''是''（启用）或''否''（不启用）。
+
+                    默认为False（不启用物料搜寻）。'
                   type: boolean
               required: []
               type: object
@@ -547,15 +553,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力(N)
+                  description: 电池压制力 (N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁步骤
+                  description: 是否忽略电池清洁
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -563,29 +569,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积(μL)
+                  description: 二次滴液第一次排液体积 (μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
                   type: boolean
                 elec_num:
-                  description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
+                  description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装电池数
+                  description: 每瓶电解液组装的电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量(μL)
+                  description: 电解液吸液量 (μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -593,7 +599,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 负极片矩阵点位
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -601,7 +607,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 隔膜矩阵点位
                   type: integer
                 gemopanshu:
                   default: 0
@@ -613,7 +619,7 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 枪头盒矩阵点位
                   type: integer
               required:
               - elec_num

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -18,6 +18,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 degrees:
+                  description: 角度值
                   type: number
               required:
               - degrees
@@ -44,6 +45,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
               required:
               - axis
@@ -71,6 +73,7 @@ xyz_stepper_controller:
               properties:
                 enable:
                   default: true
+                  description: True为使能，False为失能
                   type: boolean
               required: []
               type: object
@@ -99,9 +102,11 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
                 enable:
                   default: true
+                  description: True为使能，False为失能
                   type: boolean
               required:
               - axis
@@ -152,6 +157,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
               required:
               - axis
@@ -183,16 +189,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度(rpm/s)
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 position:
+                  description: 目标位置(步数)
                   type: integer
                 precision:
                   default: 100
+                  description: 到位精度
                   type: integer
                 speed:
                   default: 5000
+                  description: 运行速度(rpm)
                   type: integer
               required:
               - axis
@@ -225,16 +236,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 degrees:
+                  description: 目标角度（度）
                   type: number
                 precision:
                   default: 100
+                  description: 精度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -267,16 +283,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 precision:
                   default: 100
+                  description: 精度
                   type: integer
                 revolutions:
+                  description: 目标圈数
                   type: number
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -309,15 +330,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 运行速度
                   type: integer
                 x:
+                  description: X轴目标位置
                   type: integer
                 y:
+                  description: Y轴目标位置
                   type: integer
                 z:
+                  description: Z轴目标位置
                   type: integer
               required: []
               type: object
@@ -350,15 +376,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
                 x_deg:
+                  description: X轴目标角度（度）
                   type: number
                 y_deg:
+                  description: Y轴目标角度（度）
                   type: number
                 z_deg:
+                  description: Z轴目标角度（度）
                   type: number
               required: []
               type: object
@@ -391,15 +422,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
                 x_rev:
+                  description: X轴目标圈数
                   type: number
                 y_rev:
+                  description: Y轴目标圈数
                   type: number
                 z_rev:
+                  description: Z轴目标圈数
                   type: number
               required: []
               type: object
@@ -427,6 +463,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 revolutions:
+                  description: 圈数
                   type: number
               required:
               - revolutions
@@ -456,10 +493,13 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度(rpm/s)
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 speed:
+                  description: 运行速度(rpm)，正值正转，负值反转
                   type: integer
               required:
               - axis
@@ -487,6 +527,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
+                  description: 步数
                   type: integer
               required:
               - steps
@@ -513,6 +554,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
+                  description: 步数
                   type: integer
               required:
               - steps
@@ -564,9 +606,11 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
                 timeout:
                   default: 30.0
+                  description: 超时时间(秒)
                   type: number
               required:
               - axis
@@ -591,11 +635,14 @@ xyz_stepper_controller:
       properties:
         baudrate:
           default: 115200
+          description: 波特率
           type: integer
         port:
+          description: 串口端口名
           type: string
         timeout:
           default: 1.0
+          description: 通信超时时间
           type: number
       required:
       - port

unilabos/registry/devices/liquid_handler.yaml

@@ -510,9 +510,11 @@ liquid_handler:
             goal:
               properties:
                 msg:
+                  description: information to be printed
                   type: string
                 seconds:
                   default: 0
+                  description: seconds to wait
                   type: string
               required: []
               type: object
@@ -2963,15 +2965,22 @@ liquid_handler:
               additionalProperties: false
               properties:
                 channel:
+                  description: int
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 dis_to_top:
+                  description: 'float
+
+                    Height in mm to move to relative to the well top.'
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 well:
                   additionalProperties: false
+                  description: 'Well
+
+                    The target well.'
                   properties:
                     category:
                       type: string
@@ -4829,11 +4838,13 @@ liquid_handler:
     config:
       properties:
         backend:
+          description: Backend to use.
           type: object
         channel_num:
           default: 8
           type: integer
         deck:
+          description: Deck to use.
           type: object
         simulator:
           default: false
@@ -4883,14 +4894,17 @@ liquid_handler.biomek:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
+                  description: 液体输入槽列表
                   items:
                     type: integer
                   type: array
                 liquid_type:
+                  description: 液体类型列表
                   items:
                     type: string
                   type: array
                 liquid_volume:
+                  description: 液体体积列表
                   items:
                     type: integer
                   type: array
@@ -4901,6 +4915,7 @@ liquid_handler.biomek:
                     type: object
                   type: array
                 slot_on_deck:
+                  description: 甲板上的槽位
                   type: integer
               required:
               - resource_tracker
@@ -5036,20 +5051,27 @@ liquid_handler.biomek:
               additionalProperties: false
               properties:
                 none_keys:
+                  description: 需要设置为None的键列表
                   items:
                     type: string
                   type: array
                 protocol_author:
+                  description: 协议作者
                   type: string
                 protocol_date:
+                  description: 协议日期
                   type: string
                 protocol_description:
+                  description: 协议描述
                   type: string
                 protocol_name:
+                  description: 协议名称
                   type: string
                 protocol_type:
+                  description: 协议类型
                   type: string
                 protocol_version:
+                  description: 协议版本
                   type: string
               title: LiquidHandlerProtocolCreation_Goal
               type: object

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -87,7 +87,7 @@ neware_battery_test_system:
               properties:
                 filepath:
                   default: bts_status.json
-                  description: 输出JSON文件路径
+                  description: 输出文件路径
                   type: string
               required: []
               type: object
@@ -146,7 +146,7 @@ neware_battery_test_system:
             goal:
               properties:
                 plate_num:
-                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
+                  description: 盘号 (1 或 2)，如果为None则返回所有盘的状态
                   type: integer
               required: []
               type: object
@@ -237,11 +237,11 @@ neware_battery_test_system:
             goal:
               properties:
                 csv_path:
-                  description: 输入CSV文件的绝对路径
+                  description: 输入CSV文件路径
                   type: string
                 output_dir:
                   default: .
-                  description: 输出目录（用于存储XML和备份文件），默认当前目录
+                  description: 输出目录，用于存储XML文件和备份，默认当前目录
                   type: string
               required:
               - csv_path
@@ -302,14 +302,14 @@ neware_battery_test_system:
             goal:
               properties:
                 backup_dir:
-                  description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
+                  description: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
                   type: string
                 file_pattern:
                   default: '*'
-                  description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
+                  description: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
                   type: string
                 oss_prefix:
-                  description: OSS对象路径前缀（默认使用self.oss_prefix）
+                  description: OSS 对象前缀，默认使用类初始化时的配置
                   type: string
               required: []
               type: object
@@ -336,19 +336,25 @@ neware_battery_test_system:
     config:
       properties:
         devtype:
+          description: 设备类型标识
           type: string
         ip:
+          description: TCP服务器IP地址
           type: string
         machine_id:
           default: 1
+          description: 机器ID
           type: integer
         oss_prefix:
           default: neware_backup
+          description: OSS对象路径前缀，默认"neware_backup"
           type: string
         oss_upload_enabled:
           default: false
+          description: 是否启用OSS上传功能，默认False
           type: boolean
         port:
+          description: TCP端口
           type: integer
         size_x:
           default: 50
@@ -360,6 +366,7 @@ neware_battery_test_system:
           default: 20
           type: number
         timeout:
+          description: 通信超时时间（秒）
           type: integer
       required: []
       type: object

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -207,8 +207,12 @@ separator.homemade:
             goal:
               properties:
                 condition:
+                  description: The condition to be monitored, either 'delta' or 'time'.
                   type: string
                 value:
+                  description: 'The threshold value for the condition.
+
+                    `delta > 0.05`, `time > 60`'
                   type: string
               required:
               - condition
@@ -305,12 +309,17 @@ separator.homemade:
                 event:
                   type: string
                 settling_time:
+                  description: The duration for which to settle after stirring, in
+                    seconds. Defaults to 10.
                   type: string
                 stir_speed:
+                  description: The speed of stirring, in RPM. Defaults to 300.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  description: The duration for which to stir, in seconds. Defaults
+                    to 10.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number

unilabos/registry/devices/pump_and_valve.yaml

@@ -456,6 +456,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -481,6 +482,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -687,8 +689,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 max_velocity:
+                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
+                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position
@@ -1003,6 +1007,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1028,6 +1033,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1234,8 +1240,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 max_velocity:
+                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
+                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -32,7 +32,7 @@ reaction_station.bioyond:
                   type: integer
                 end_point:
                   default: 0
-                  description: 终点计时点 (Start=开始前, End=结束后)
+                  description: 终点计时点 (Start=0, End=1)
                   type: integer
                 end_step_key:
                   default: ''
@@ -40,11 +40,11 @@ reaction_station.bioyond:
                   type: string
                 start_point:
                   default: 0
-                  description: 起点计时点 (Start=开始前, End=结束后)
+                  description: 起点计时点 (Start=0, End=1)
                   type: integer
                 start_step_key:
                   default: ''
-                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
+                  description: 起点步骤Key (可选, 默认为空则自动选择)
                   type: string
               required:
               - duration
@@ -91,6 +91,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
+                  description: 订单参数的JSON字符串
                   type: string
               required:
               - json_str
@@ -117,6 +118,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_ids:
+                  description: 要删除的工作流ID数组
                   items:
                     type: string
                   type: array
@@ -145,6 +147,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
+                  description: 'JSON格式的字符串,包含:'
                   type: string
               required:
               - json_str
@@ -197,6 +200,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 web_workflow_json:
+                  description: JSON 格式的网页工作流列表
                   type: string
               required:
               - web_workflow_json
@@ -228,8 +232,10 @@ reaction_station.bioyond:
             goal:
               properties:
                 reactor_id:
+                  description: 反应器编号 (1-5)
                   type: integer
                 temperature:
+                  description: 目标温度 (°C)
                   type: number
               required:
               - reactor_id
@@ -257,6 +263,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 preintake_id:
+                  description: 通量ID
                   type: string
               required:
               - preintake_id
@@ -338,6 +345,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 value:
+                  description: 工作流 ID 列表
                   items:
                     type: string
                   type: array
@@ -365,6 +373,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_id:
+                  description: 工作流ID
                   type: string
               required:
               - workflow_id
@@ -424,11 +433,11 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称（不能为空）
+                  description: 物料名称(液体种类)
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度(C)
                   type: number
                 time:
                   default: '90'
@@ -436,14 +445,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume:
-                  description: 分液公式(mL)
+                  description: 分液量(μL)
                   type: string
               required:
               - assign_material_name
@@ -525,11 +534,11 @@ reaction_station.bioyond:
               properties:
                 assign_material_name:
                   default: BAPP
-                  description: 物料名称
+                  description: 物料名称(试剂瓶位)
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '0'
@@ -537,15 +546,15 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(int类型, 1=否, 2=是)
                   type: integer
                 volume:
                   default: '350'
-                  description: 分液公式(mL)
+                  description: 分液质量(g)
                   type: string
               required: []
               type: object
@@ -593,26 +602,28 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 solvents:
-                  description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
+                  description: '溶剂信息的字典或JSON字符串(可选),格式如下:
+
+                    {'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C),默认25.00
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '360'
-                  description: 观察时间(分钟),默认360
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是),默认NO
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume:
-                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
                   type: string
               required:
               - assign_material_name
@@ -671,33 +682,32 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 extracted_actuals:
-                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
+                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
                   type: string
                 feeding_order_data:
-                  description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
-                    {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
+                  description: feeding_order JSON字符串或对象,用于获取m二酐值
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C),默认25.00
+                  description: 温度(C)
                   type: number
                 time:
                   default: '90'
-                  description: 观察时间(分钟),默认90
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
                   default: '2'
-                  description: 是否滴定(NO=否, YES=是),默认YES
+                  description: 是否滴定(NO=1, YES=2),默认2
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume_formula:
-                  description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
+                  description: 分液公式(μL),如果提供则直接使用,否则自动计算
                   type: string
                 x_value:
-                  description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
+                  description: 手工输入的x值,格式如 "1-2-3"
                   type: string
               required:
               - assign_material_name
@@ -738,7 +748,7 @@ reaction_station.bioyond:
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度(C)
                   type: number
                 time:
                   default: '0'
@@ -746,14 +756,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume_formula:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume_formula
@@ -786,7 +796,7 @@ reaction_station.bioyond:
                   description: 任务名称
                   type: string
                 workflow_name:
-                  description: 工作流名称
+                  description: 合并后的工作流名称
                   type: string
               required:
               - workflow_name
@@ -819,15 +829,15 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称
+                  description: 物料名称(不能为空)
                   type: string
                 cutoff:
                   default: '900000'
-                  description: 粘度上限
+                  description: 粘度上限(需为有效数字字符串,默认 "900000")
                   type: string
                 temperature:
                   default: -10.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C,范围:-50.00 至 100.00)
                   type: number
               required:
               - assign_material_name
@@ -909,11 +919,11 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   type: string
                 material_id:
-                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
+                  description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '0'
@@ -921,7 +931,7 @@ reaction_station.bioyond:
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
               required:
               - material_id
@@ -945,10 +955,13 @@ reaction_station.bioyond:
     config:
       properties:
         config:
+          description: 配置字典,应包含workflow_mappings等配置
           type: object
         deck:
+          description: Deck对象
           type: string
         protocol_type:
+          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/robot_arm.yaml

@@ -198,6 +198,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes option, target,
+                    speed, lift_height, mt_height
                   type: string
               title: SendCmd_Goal
               type: object
@@ -241,6 +243,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes quaternion, speed,
+                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -284,6 +288,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/robot_linear_motion.yaml

@@ -709,6 +709,8 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes option, target,
+                    speed, lift_height, mt_height
                   type: string
               title: SendCmd_Goal
               type: object
@@ -752,6 +754,8 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes quaternion, speed,
+                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -795,6 +799,7 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/virtual_device.yaml

@@ -2179,6 +2179,7 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
+                  description: 端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2225,6 +2226,7 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
+                  description: 目标端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2261,6 +2263,7 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -2304,6 +2307,7 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -3960,6 +3964,14 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
+  - data_key: top_outlet
+    data_source: executor
+    data_type: fluid
+    description: 上相（轻相）液体输出口
+    handler_key: topphaseout
+    io_type: source
+    label: top_phase_out
+    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical
@@ -4207,6 +4219,7 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 string:
+                  description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -4250,6 +4263,7 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: '"OPEN"/"CLOSED" 或其他控制命令'
                   type: string
               title: SendCmd_Goal
               type: object
@@ -4410,16 +4424,20 @@ virtual_solid_dispenser:
                 event:
                   type: string
                 mass:
+                  description: 质量字符串 (如 "2.9 g")
                   type: string
                 mol:
+                  description: 摩尔数字符串 (如 "0.12 mol")
                   type: string
                 purpose:
+                  description: 添加目的
                   type: string
                 rate_spec:
                   type: string
                 ratio:
                   type: string
                 reagent:
+                  description: 试剂名称
                   type: string
                 stir:
                   type: boolean
@@ -4431,6 +4449,7 @@ virtual_solid_dispenser:
                   type: string
                 vessel:
                   additionalProperties: false
+                  description: 目标容器
                   properties:
                     category:
                       type: string
@@ -5560,8 +5579,10 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
+                  description: 拉取速度 (ml/s)
                   type: number
                 volume:
+                  description: 要拉取的体积 (ml)
                   type: number
               required:
               - volume
@@ -5588,8 +5609,10 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
+                  description: 推出速度 (ml/s)
                   type: number
                 volume:
+                  description: 要推出的体积 (ml)
                   type: number
               required:
               - volume
@@ -5685,10 +5708,12 @@ virtual_transfer_pump:
               additionalProperties: false
               properties:
                 max_velocity:
+                  description: 移动速度 (ml/s)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  description: 目标位置 (ml)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
@@ -5837,8 +5862,10 @@ virtual_transfer_pump:
     config:
       properties:
         config:
+          description: 配置字典，包含max_volume, port等参数
           type: object
         device_id:
+          description: 设备ID
           type: string
       required: []
       type: object

unilabos/registry/devices/xrd_d7mate.yaml

@@ -409,11 +409,11 @@ xrd_d7mate:
               properties:
                 end_theta:
                   default: 80.0
-                  description: 结束角度（≥5.5°，且必须大于start_theta）
+                  description: 结束角度（≥5.5°，且必须大于 start_theta）
                   type: number
                 exp_time:
                   default: 0.1
-                  description: 曝光时间（0.1-5.0秒）
+                  description: 曝光时间（0.1-5.0 秒）
                   type: number
                 increment:
                   default: 0.05
@@ -421,7 +421,7 @@ xrd_d7mate:
                   type: number
                 sample_id:
                   default: ''
-                  description: 样品标识符
+                  description: 样品名称
                   type: string
                 start_theta:
                   default: 10.0
@@ -433,7 +433,7 @@ xrd_d7mate:
                   type: string
                 wait_minutes:
                   default: 3.0
-                  description: 允许上样后等待分钟数
+                  description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
                   type: number
               required: []
               title: StartWorkflow_Goal
@@ -492,12 +492,15 @@ xrd_d7mate:
       properties:
         host:
           default: 127.0.0.1
+          description: 设备IP地址
           type: string
         port:
           default: 6001
+          description: 通信端口，默认6001
           type: string
         timeout:
           default: 10.0
+          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/devices/zhida_gcms.yaml

@@ -217,6 +217,7 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
+                  description: Base64编码的CSV数据（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -257,6 +258,7 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
+                  description: CSV文件路径（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -289,12 +291,15 @@ zhida_gcms:
       properties:
         host:
           default: 192.168.3.184
+          description: 设备IP地址，本地部署时可使用'127.0.0.1'
           type: string
         port:
           default: 5792
+          description: 通信端口，默认5792
           type: string
         timeout:
           default: 10.0
+          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/registry.py

@@ -271,6 +271,7 @@ class Registry:
         registry_cache.pkl 一个文件中，删除即可完全重置。
         """
         import time as _time
+        from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
         from unilabos.registry.ast_registry_scanner import scan_directory
 
         scan_t0 = _time.perf_counter()
@@ -286,6 +287,10 @@ class Registry:
         # ---- 统一缓存：一个 pkl 包含所有数据 ----
         unified_cache = self._load_config_cache()
         ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
+        if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
+            ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
+            unified_cache["_ast_scan"] = ast_cache
+            unified_cache.pop("_build_results", None)
 
         # 默认：扫描 unilabos 包所在的父目录
         pkg_root = Path(__file__).resolve().parent.parent          # .../unilabos
@@ -561,13 +566,47 @@ class Registry:
 
         return prop_schema
 
+    @staticmethod
+    def _apply_docstring_param_metadata(
+        schema: Dict[str, Any],
+        doc_info: Dict[str, Any],
+        field_to_param: Optional[Dict[str, str]] = None,
+        apply_defaults: bool = False,
+    ) -> None:
+        """Apply parsed docstring display names and descriptions to schema properties."""
+        if not schema or not doc_info:
+            return
+
+        props = schema.get("properties", {})
+        if not isinstance(props, dict):
+            return
+
+        param_descs = doc_info.get("params", {}) or {}
+        param_display_names = doc_info.get("param_display_names", {}) or {}
+        for field_name, prop_schema in props.items():
+            if not isinstance(prop_schema, dict):
+                continue
+            param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
+            if not isinstance(param_name, str):
+                continue
+            param_name = param_name.removesuffix("[]")
+            if param_name in param_display_names:
+                prop_schema["title"] = param_display_names[param_name]
+            elif apply_defaults and not prop_schema.get("title"):
+                prop_schema["title"] = field_name
+
+            if param_name in param_descs:
+                prop_schema["description"] = param_descs[param_name]
+            elif apply_defaults and "description" not in prop_schema:
+                prop_schema["description"] = ""
+
     def _generate_unilab_json_command_schema(
         self, method_args: list, docstring: Optional[str] = None,
         import_map: Optional[Dict[str, str]] = None,
+        apply_doc_defaults: bool = False,
     ) -> Dict[str, Any]:
         """根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
         doc_info = parse_docstring(docstring)
-        param_descs = doc_info.get("params", {})
 
         schema = {
             "type": "object",
@@ -598,12 +637,10 @@ class Registry:
                     param_name, param_type, param_default, import_map=import_map
                 )
 
-            if param_name in param_descs:
-                schema["properties"][param_name]["description"] = param_descs[param_name]
-
             if param_required:
                 schema["required"].append(param_name)
 
+        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
         return schema
 
     def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
@@ -799,6 +836,7 @@ class Registry:
             type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
             params = method_info.get("params", [])
             method_doc = method_info.get("docstring")
+            method_doc_info = parse_docstring(method_doc)
             goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
 
             if action_args is not None:
@@ -828,7 +866,11 @@ class Registry:
 
             # action handles: 从 @action(handles=[...]) 提取并转换为标准格式
             raw_handles = (action_args or {}).get("handles")
-            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
+            handles = (
+                normalize_ast_action_handles(raw_handles)
+                if isinstance(raw_handles, list)
+                else (raw_handles or {})
+            )
 
             # placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
             pk = detect_placeholder_keys(params)
@@ -847,7 +889,12 @@ class Registry:
                 "goal": goal,
                 "feedback": (action_args or {}).get("feedback") or {},
                 "result": (action_args or {}).get("result") or {},
-                "schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
+                "schema": wrap_action_schema(
+                    goal_schema,
+                    action_name,
+                    description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
+                    result_schema=result_schema,
+                ),
                 "goal_default": goal_default,
                 "handles": handles,
                 "placeholder_keys": pk,
@@ -886,7 +933,11 @@ class Registry:
                 action_name = f"auto-{action_name}"
 
             raw_handles = action_args.get("handles")
-            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
+            handles = (
+                normalize_ast_action_handles(raw_handles)
+                if isinstance(raw_handles, list)
+                else (raw_handles or {})
+            )
 
             method_params = method_info.get("params", [])
 
@@ -979,7 +1030,10 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
+                "placeholder_keys": {
+                    **detect_placeholder_keys(method_params),
+                    **(action_args.get("placeholder_keys") or {}),
+                },
             }
             if action_args.get("always_free") or method_info.get("always_free"):
                 action_entry["always_free"] = True
@@ -988,13 +1042,22 @@ class Registry:
             nt = normalize_enum_value(action_args.get("node_type"), NodeType)
             if nt:
                 action_entry["node_type"] = nt
+            goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
+            self._apply_docstring_param_metadata(
+                goal_schema_for_docs,
+                parse_docstring(method_info.get("docstring")),
+                goal,
+                apply_defaults=True,
+            )
             action_value_mappings[action_name] = action_entry
 
         action_value_mappings = dict(sorted(action_value_mappings.items()))
 
         # --- init_param_schema = { config: <init_params>, data: <status_types> } ---
         init_params = ast_meta.get("init_params", [])
-        config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
+        config_schema = self._generate_schema_from_ast_params(
+            init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
+        )
         data_schema = self._generate_status_schema_from_ast(
             ast_meta.get("status_properties", {}), imap
         )
@@ -1042,7 +1105,6 @@ class Registry:
     ) -> Dict[str, Any]:
         """Generate JSON Schema from AST-extracted parameter list."""
         doc_info = parse_docstring(docstring)
-        param_descs = doc_info.get("params", {})
 
         schema: Dict[str, Any] = {
             "type": "object",
@@ -1072,12 +1134,10 @@ class Registry:
                     pname, ptype, pdefault, import_map
                 )
 
-            if pname in param_descs:
-                schema["properties"][pname]["description"] = param_descs[pname]
-
             if prequired:
                 schema["required"].append(pname)
 
+        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
         return schema
 
     def _generate_status_schema_from_ast(
@@ -1807,7 +1867,7 @@ class Registry:
                         else:
                             action_key = f"auto-{k}"
                         goal_schema = self._generate_unilab_json_command_schema(
-                            v["args"], import_map=enhanced_import_map
+                            v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
                         )
                         ret_type = v.get("return_type", "")
                         result_schema = None
@@ -1816,7 +1876,13 @@ class Registry:
                                 "result", ret_type, None, import_map=enhanced_import_map
                             )
                         old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
-                        new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
+                        doc_info = parse_docstring(v.get("docstring"))
+                        new_schema = wrap_action_schema(
+                            goal_schema,
+                            action_key,
+                            description=doc_info.get("description", ""),
+                            result_schema=result_schema,
+                        )
                         old_schema = old_cfg.get("schema", {})
                         if old_schema:
                             preserve_field_descriptions(new_schema, old_schema)
@@ -1882,6 +1948,12 @@ class Registry:
 
                         merged_pk = dict(old_cfg.get("placeholder_keys", {}))
                         merged_pk.update(detect_placeholder_keys(v["args"]))
+                        goal_schema_for_docs = (
+                            entry_schema.get("properties", {}).get("goal", {})
+                            if isinstance(entry_schema, dict)
+                            else {}
+                        )
+                        self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
 
                         entry = {
                             "type": entry_type,
@@ -1902,7 +1974,8 @@ class Registry:
 
                     device_config["init_param_schema"] = {}
                     init_schema = self._generate_unilab_json_command_schema(
-                        enhanced_info["init_params"], "__init__",
+                        enhanced_info["init_params"],
+                        docstring=enhanced_info.get("init_docstring"),
                         import_map=enhanced_import_map,
                     )
                     device_config["init_param_schema"]["config"] = init_schema
@@ -1949,7 +2022,9 @@ class Registry:
                             action_str_type_mapping[action_type_str] = target_type
                             if target_type is not None:
                                 try:
-                                    action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
+                                    action_config["goal_default"] = ROS2MessageInstance(
+                                        target_type.Goal()
+                                    ).get_python_dict()
                                 except Exception:
                                     action_config["goal_default"] = {}
                                 prev_schema = action_config.get("schema", {})
@@ -2141,6 +2216,7 @@ class Registry:
                                 "unilabos_device_id": {
                                     "type": "string",
                                     "default": "",
+                                    "title": "设备ID",
                                     "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
                                 },
                                 **schema["properties"]["goal"]["properties"],
@@ -2212,7 +2288,14 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
+def build_registry(
+    registry_paths=None,
+    devices_dirs=None,
+    upload_registry=False,
+    check_mode=False,
+    complete_registry=False,
+    external_only=False,
+):
     """
     构建或获取Registry单例实例
     """
@@ -2226,7 +2309,12 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
             if path not in current_paths:
                 lab_registry.registry_paths.append(path)
 
-    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
+    lab_registry.setup(
+        devices_dirs=devices_dirs,
+        upload_registry=upload_registry,
+        complete_registry=complete_registry,
+        external_only=external_only,
+    )
 
     # 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
     lab_registry.resolve_all_types()

unilabos/registry/utils.py

@@ -36,16 +36,40 @@ class ROSMsgNotFound(Exception):
 # ---------------------------------------------------------------------------
 
 _SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
+_PARAM_HEADER_RE = re.compile(
+    r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
+)
+
+
+def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
+    """Parse ``name[display_name]`` or Google-style ``name (type)``."""
+    match = _PARAM_HEADER_RE.match(param_part.strip())
+    if not match:
+        return param_part.strip().split("(")[0].strip(), None
+
+    display_name = match.group("display_name")
+    if display_name is not None:
+        display_name = display_name.strip() or None
+    return match.group("name").strip(), display_name
 
 
 def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     """
-    解析 Google-style docstring，提取描述和参数说明。
+    解析 docstring，提取描述和参数说明。
+
+    支持:
+      - Google-style ``Args:`` / ``Parameters:`` 小节
+      - 直接参数行 ``field: desc``
+      - 带显示名参数行 ``field[Display Name]: desc``
 
     Returns:
-        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
+        {
+            "description": "短描述",
+            "params": {"param1": "参数1描述", ...},
+            "param_display_names": {"param1": "显示名", ...},
+        }
     """
-    result: Dict[str, Any] = {"description": "", "params": {}}
+    result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
     if not docstring:
         return result
 
@@ -53,33 +77,53 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     if not lines:
         return result
 
-    result["description"] = lines[0].strip()
-
     in_args = False
+    current_section: Optional[str] = None
     current_param: Optional[str] = None
+    current_display_name: Optional[str] = None
     current_desc_parts: list = []
 
-    for line in lines[1:]:
+    def flush_current_param() -> None:
+        nonlocal current_param, current_display_name, current_desc_parts
+        if current_param is None:
+            return
+        result["params"][current_param] = "\n".join(current_desc_parts).strip()
+        if current_display_name:
+            result["param_display_names"][current_param] = current_display_name
+        current_param = None
+        current_display_name = None
+        current_desc_parts = []
+
+    first_line = lines[0].strip()
+    start_index = 0
+    if not _SECTION_RE.match(first_line) and ":" not in first_line:
+        result["description"] = first_line
+        start_index = 1
+
+    for line in lines[start_index:]:
         stripped = line.strip()
+        if not stripped:
+            if current_param is not None:
+                current_desc_parts.append("")
+            continue
+
         section_match = _SECTION_RE.match(stripped)
         if section_match:
-            if current_param is not None:
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
-                current_param = None
-                current_desc_parts = []
-            section_name = section_match.group(1).lower()
-            in_args = section_name in ("args", "arguments", "parameters", "params")
+            flush_current_param()
+            current_section = section_match.group(1).lower()
+            in_args = current_section in ("args", "arguments", "parameters", "params")
             continue
 
-        if not in_args:
+        parse_as_param = in_args or current_section is None
+        if not parse_as_param:
             continue
 
-        if ":" in stripped and not stripped.startswith(" "):
-            if current_param is not None:
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+        if ":" in stripped:
+            flush_current_param()
             param_part, _, desc_part = stripped.partition(":")
-            param_name = param_part.strip().split("(")[0].strip()
+            param_name, display_name = _parse_docstring_param_header(param_part)
             current_param = param_name
+            current_display_name = display_name
             current_desc_parts = [desc_part.strip()]
         elif current_param is not None:
             aline = line
@@ -89,8 +133,7 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
                 aline = aline[1:]
             current_desc_parts.append(aline.strip())
 
-    if current_param is not None:
-        result["params"][current_param] = "\n".join(current_desc_parts).strip()
+    flush_current_param()
 
     return result
 

unilabos/resources/bioyond/__init__.py

@@ -0,0 +1,9 @@
+try:
+    from . import peptide_materials  # noqa: F401  ensure @resource classes are importable for PLR deserialize
+except Exception:  # pragma: no cover - 允许轻量环境导入非资源辅助函数
+    peptide_materials = None  # type: ignore[assignment]
+
+try:
+    from . import sirna_materials  # noqa: F401  ensure @resource classes are importable for PLR deserialize
+except Exception:  # pragma: no cover - 允许轻量环境导入非资源辅助函数
+    sirna_materials = None  # type: ignore[assignment]

unilabos/resources/bioyond/decks.py

@@ -1,6 +1,8 @@
 from os import name
+
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
+from unilabos.registry.decorators import resource
 from unilabos.resources.bioyond.YB_warehouses import (
     bioyond_warehouse_1x4x4,
     bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
@@ -23,6 +25,11 @@ from unilabos.resources.bioyond.YB_warehouses import (
 from unilabos.resources.bioyond.warehouses import (
     bioyond_warehouse_tipbox_storage_left,   # 新增：Tip盒堆栈(左)
     bioyond_warehouse_tipbox_storage_right,  # 新增：Tip盒堆栈(右)
+    bioyond_warehouse_sirna_automation_stack,
+    bioyond_warehouse_sirna_centrifuge_balance_plate_stack,
+    bioyond_warehouse_sirna_g3_liquid_handler,
+    bioyond_warehouse_numeric_stack,  # 新增：数字编码堆栈 (用于多肽站)
+    bioyond_warehouse_live_grid,
 )
 
 
@@ -101,6 +108,83 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
+@resource(
+    id="BIOYOND_SirnaStation_Deck",
+    category=["deck"],
+    description="BIOYOND 小核酸工作站 Deck",
+    icon="配液站.webp",
+)
+class BIOYOND_SirnaStation_Deck(Deck):
+    WAREHOUSE_BIOYOND_AXIS = {
+        "G3移液站": "xy_col_row",
+        "自动化堆栈": "xy_col_row",
+        "离心机配平板堆栈": "xy_col_row",
+    }
+    WAREHOUSE_BIOYOND_KEY_AXIS = {
+        "G3移液站": "col_row",
+        "自动化堆栈": "col_row",
+        "离心机配平板堆栈": "col_row",
+    }
+    # Bioyond warehouse UUID -> 本地仓库名称 映射。
+    # 留空时由配置（station config 的 ``warehouse_bioyond_ids``）注入。
+    # graph 节点也可在 deck.config.warehouse_bioyond_ids 覆盖。
+    WAREHOUSE_BIOYOND_IDS: dict = {}
+
+    def __init__(
+        self,
+        name: str = "SirnaStation_Deck",
+        size_x: float = 2700.0,
+        size_y: float = 1080.0,
+        size_z: float = 1500.0,
+        category: str = "deck",
+        setup: bool = False,
+        warehouse_bioyond_ids: dict | None = None,
+        **kwargs,
+    ) -> None:
+        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
+        # 按需写入实例级覆盖；保留默认空 mapping，避免改动模型常量。
+        self.warehouse_bioyond_ids: dict = dict(self.WAREHOUSE_BIOYOND_IDS)
+        if warehouse_bioyond_ids:
+            self.warehouse_bioyond_ids.update(warehouse_bioyond_ids)
+        if setup:
+            self.setup()
+
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal: bool = False):
+        if data.get("children") and data.get("setup") is True:
+            data = data.copy()
+            data["setup"] = False
+        result = super().deserialize(data, allow_marshal=allow_marshal)
+        result._ensure_sirna_warehouse_metadata()
+        return result
+
+    def _ensure_sirna_warehouse_metadata(self) -> None:
+        for child in getattr(self, "children", []):
+            name = getattr(child, "name", "")
+            axis = self.WAREHOUSE_BIOYOND_AXIS.get(name)
+            if axis and not hasattr(child, "bioyond_axis"):
+                child.bioyond_axis = axis
+            key_axis = self.WAREHOUSE_BIOYOND_KEY_AXIS.get(name)
+            if key_axis and not hasattr(child, "bioyond_key_axis"):
+                child.bioyond_key_axis = key_axis
+
+    def setup(self) -> None:
+        # Sirna 读接口 /api/storage/location/locations-by-type 返回完整固定堆栈清单。
+        # LIMS 在库物料接口仍使用相同的 自动化堆栈 名称和数字库位编码。
+        self.warehouses = {
+            "G3移液站": bioyond_warehouse_sirna_g3_liquid_handler(),
+            "自动化堆栈": bioyond_warehouse_sirna_automation_stack(),
+            "离心机配平板堆栈": bioyond_warehouse_sirna_centrifuge_balance_plate_stack(),
+        }
+        self.warehouse_locations = {
+            "G3移液站": Coordinate(0.0, 0.0, 0.0),
+            "自动化堆栈": Coordinate(220.0, 0.0, 0.0),
+            "离心机配平板堆栈": Coordinate(1740.0, 0.0, 0.0),
+        }
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
 class BIOYOND_YB_Deck(Deck):
     def __init__(
         self,
@@ -150,12 +234,207 @@ class BIOYOND_YB_Deck(Deck):
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
 
+@resource(
+    id="BIOYOND_PeptideStation_Deck",
+    category=["deck"],
+    description="BIOYOND 多肽工作站 Deck",
+    icon="preparation_station.webp",
+)
+class BIOYOND_PeptideStation_Deck(Deck):
+    WAREHOUSE_BIOYOND_AXIS = dict.fromkeys(
+        [
+            "自动化堆栈",
+            "低温冰箱仓库",
+            "Tecan移液站库",
+            "G3移液站库",
+            "IDOT移液站库",
+            "G3缓冲库",
+            "盖板缓冲库",
+            "配平板缓冲库",
+            "IDOT缓冲库",
+            "固相合成板底座缓冲位",
+            "离心机库位",
+            "热封膜机位",
+        ],
+        "xy_col_row",
+    )
+    WAREHOUSE_BIOYOND_KEY_AXIS = dict.fromkeys(WAREHOUSE_BIOYOND_AXIS, "col_row")
+
+    def __init__(
+        self,
+        name: str = "PeptideStation_Deck",
+        size_x: float = 2700.0,
+        size_y: float = 2000.0,
+        size_z: float = 1500.0,
+        category: str = "deck",
+        setup: bool = False
+    ) -> None:
+        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
+        if setup:
+            self.setup()
+
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal: bool = False):
+        if data.get("children") and data.get("setup") is True:
+            data = data.copy()
+            data["setup"] = False
+            # 已有序列化子资源，跳过 setup 避免重复创建
+            result = super(BIOYOND_PeptideStation_Deck, cls).deserialize(data, allow_marshal=allow_marshal)
+        else:
+            result = super(BIOYOND_PeptideStation_Deck, cls).deserialize(data, allow_marshal=allow_marshal)
+        result._ensure_peptide_warehouse_metadata()
+        return result
+
+    def _ensure_peptide_warehouse_metadata(self) -> None:
+        for child in getattr(self, "children", []):
+            name = getattr(child, "name", "")
+            axis = self.WAREHOUSE_BIOYOND_AXIS.get(name)
+            if axis and not hasattr(child, "bioyond_axis"):
+                child.bioyond_axis = axis
+            key_axis = self.WAREHOUSE_BIOYOND_KEY_AXIS.get(name)
+            if key_axis and not hasattr(child, "bioyond_key_axis"):
+                child.bioyond_key_axis = key_axis
+
+    def _frontend_y_flipped_coordinate(self, display_x: float, display_y: float, child) -> Coordinate:
+        """把期望显示坐标转换为兼容前端 y 轴翻转的存储坐标。"""
+        return Coordinate(display_x, self.get_size_y() - display_y - child.get_size_y(), 0.0)
+
+    def setup(self) -> None:
+        # 多肽工作站仓库配置
+        # 基于 2026-05-09 live API probe 发现的实际仓库拓扑 (12个仓库)
+        # 数据来源: Bioyond 现场仓库发现结果。
+        self.warehouses = {
+            # 主自动化堆栈 - live API: code 10-17 -> x=17, y=10，显示为 17 行×10 列
+            "自动化堆栈": bioyond_warehouse_numeric_stack(
+                "自动化堆栈",
+                rows=17,
+                columns=10,
+                bioyond_axis="xy_col_row",
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+
+            # 低温存储
+            "低温冰箱仓库": bioyond_warehouse_live_grid(
+                "低温冰箱仓库",
+                rows=3,
+                columns=2,
+                slot_keys=["1", "2", "3", "4", "5", "6"],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+
+            # 移液站库位
+            "Tecan移液站库": bioyond_warehouse_live_grid(
+                "Tecan移液站库",
+                rows=18,
+                columns=1,
+                slot_keys=[str(index) for index in range(1, 19)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "G3移液站库": bioyond_warehouse_live_grid(
+                "G3移液站库",
+                rows=18,
+                columns=1,
+                slot_keys=["1", "2", "3", "4", "垃圾桶", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16", "17", "18"],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "IDOT移液站库": bioyond_warehouse_live_grid(
+                "IDOT移液站库",
+                rows=12,
+                columns=1,
+                slot_keys=[f"0009-{index:04d}" for index in range(1, 13)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+
+            # 缓冲库位
+            "G3缓冲库": bioyond_warehouse_live_grid(
+                "G3缓冲库",
+                rows=5,
+                columns=1,
+                slot_keys=[str(index) for index in range(1, 6)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "盖板缓冲库": bioyond_warehouse_live_grid(
+                "盖板缓冲库",
+                rows=7,
+                columns=1,
+                slot_keys=[str(index) for index in range(1, 8)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "配平板缓冲库": bioyond_warehouse_live_grid(
+                "配平板缓冲库",
+                rows=3,
+                columns=1,
+                slot_keys=[str(index) for index in range(1, 4)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "IDOT缓冲库": bioyond_warehouse_live_grid(
+                "IDOT缓冲库",
+                rows=2,
+                columns=1,
+                slot_keys=["1", "1"],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "固相合成板底座缓冲位": bioyond_warehouse_live_grid(
+                "固相合成板底座缓冲位",
+                rows=4,
+                columns=1,
+                slot_keys=[f"0015-{index:04d}" for index in range(1, 5)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+
+            # 设备库位
+            "离心机库位": bioyond_warehouse_live_grid(
+                "离心机库位",
+                rows=4,
+                columns=1,
+                slot_keys=[f"0017-{index:04d}" for index in range(1, 5)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+            "热封膜机位": bioyond_warehouse_live_grid(
+                "热封膜机位",
+                rows=2,
+                columns=1,
+                slot_keys=[f"0016-{index:04d}" for index in range(1, 3)],
+                bioyond_key_axis="col_row",
+                frontend_y_flip=True,
+            ),
+        }
+
+        # 仓库显示布局：紧凑排列；存储 y 坐标按前端兼容翻转预先反向。
+        display_layout = {
+            "自动化堆栈": (0.0, 0.0),
+            "Tecan移液站库": (1520.0, 0.0),
+            "G3移液站库": (1710.0, 0.0),
+            "IDOT移液站库": (1900.0, 0.0),
+            "G3缓冲库": (2090.0, 0.0),
+            "盖板缓冲库": (2090.0, 580.0),
+            "低温冰箱仓库": (2280.0, 0.0),
+            "配平板缓冲库": (2280.0, 370.0),
+            "IDOT缓冲库": (2470.0, 370.0),
+            "固相合成板底座缓冲位": (2280.0, 740.0),
+            "离心机库位": (2470.0, 740.0),
+            "热封膜机位": (2280.0, 1210.0),
+        }
+        self.warehouse_locations = {
+            name: self._frontend_y_flipped_coordinate(x, y, self.warehouses[name])
+            for name, (x, y) in display_layout.items()
+        }
+
+        for warehouse_name, warehouse in self.warehouses.items():
+            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
 def YB_Deck(name: str) -> Deck:
     by=BIOYOND_YB_Deck(name=name)
     by.setup()
     return by
-
-
-
-
-

unilabos/resources/bioyond/peptide_materials.py

@@ -0,0 +1,247 @@
+"""Peptide Station Material Resource Definitions."""
+
+from __future__ import annotations
+
+from collections import OrderedDict
+
+try:
+    from pylabrobot.resources import Container, Plate, TipRack
+except Exception:  # pragma: no cover - 允许无 pylabrobot 的轻量动作测试导入
+    class _FallbackResource:
+        def __init__(self, *args, **kwargs):
+            self.args = args
+            self.kwargs = kwargs
+
+    class Container(_FallbackResource):  # type: ignore[no-redef]
+        pass
+
+    class Plate(_FallbackResource):  # type: ignore[no-redef]
+        pass
+
+    class TipRack(_FallbackResource):  # type: ignore[no-redef]
+        pass
+
+try:
+    from unilabos.registry.decorators import resource
+except Exception:  # pragma: no cover - 允许无完整 registry 依赖时导入常量
+    def resource(*args, **kwargs):
+        def decorator(cls):
+            return cls
+
+        return decorator
+
+
+def _ensure_itemized_ordering(kwargs: dict) -> None:
+    if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
+        kwargs["ordering"] = OrderedDict()
+
+
+class _PeptideTipRack(TipRack):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("size_x", 127.76)
+        kwargs.setdefault("size_y", 85.48)
+        kwargs.setdefault("size_z", 64.0)
+        kwargs.setdefault("with_tips", True)
+        _ensure_itemized_ordering(kwargs)
+        super().__init__(*args, **kwargs)
+
+
+class _PeptidePlate(Plate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("size_x", 127.76)
+        kwargs.setdefault("size_y", 85.48)
+        kwargs.setdefault("size_z", 14.35)
+        kwargs.setdefault("plate_type", "skirted")
+        _ensure_itemized_ordering(kwargs)
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_1000ul_tip_rack",
+    category=["labware", "tip_rack"],
+    description="1000uL tip rack for Bioyond peptide station",
+)
+class BioyondPeptide_1000ul_TipRack(_PeptideTipRack):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_1000ul_tip_rack")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_200ul_tip_rack",
+    category=["labware", "tip_rack"],
+    description="200uL tip rack for Bioyond peptide station",
+)
+class BioyondPeptide_200ul_TipRack(_PeptideTipRack):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_200ul_tip_rack")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_50ul_tip_rack",
+    category=["labware", "tip_rack"],
+    description="50uL tip rack for Bioyond peptide station",
+)
+class BioyondPeptide_50ul_TipRack(_PeptideTipRack):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_50ul_tip_rack")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_96_well_deep_well_plate",
+    category=["labware", "plate"],
+    description="96 well deep well plate for Bioyond peptide station",
+)
+class BioyondPeptide_96WellDeepWellPlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_96_well_deep_well_plate")
+        kwargs.setdefault("size_z", 44.0)
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_96_well_synthesis_plate",
+    category=["labware", "plate"],
+    description="96 well solid-phase synthesis plate for Bioyond peptide station",
+)
+class BioyondPeptide_96WellSynthesisPlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_96_well_synthesis_plate")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_96_well_synthesis_plate_base",
+    category=["labware", "adapter"],
+    description="96 well solid-phase synthesis plate base for Bioyond peptide station",
+)
+class BioyondPeptide_96WellSynthesisPlateBase(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_96_well_synthesis_plate_base")
+        kwargs.setdefault("size_z", 20.0)
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_96_well_balance_plate",
+    category=["labware", "plate"],
+    description="96 well balance plate for Bioyond peptide station",
+)
+class BioyondPeptide_96WellBalancePlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_96_well_balance_plate")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_384_well_plate",
+    category=["labware", "plate"],
+    description="384 well plate for Bioyond peptide station",
+)
+class BioyondPeptide_384WellPlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_384_well_plate")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_384_lcms_plate",
+    category=["labware", "plate"],
+    description="384 well LCMS plate for Bioyond peptide station",
+)
+class BioyondPeptide_384LCMSPlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_384_lcms_plate")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_384_balance_plate",
+    category=["labware", "plate"],
+    description="384 well balance plate for Bioyond peptide station",
+)
+class BioyondPeptide_384BalancePlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_384_balance_plate")
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_cover_plate",
+    category=["labware", "cover"],
+    description="Cover plate for Bioyond peptide station",
+)
+class BioyondPeptide_CoverPlate(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_cover_plate")
+        kwargs.setdefault("size_z", 8.0)
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_sealing_base",
+    category=["labware", "adapter"],
+    description="Sealing base for Bioyond peptide station",
+)
+class BioyondPeptide_SealingBase(_PeptidePlate):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("model", "bioyond_peptide_sealing_base")
+        kwargs.setdefault("size_z", 20.0)
+        super().__init__(*args, **kwargs)
+
+
+@resource(
+    id="bioyond_peptide_reagent_trough",
+    category=["labware", "trough"],
+    description="Reagent trough for Bioyond peptide station",
+)
+class BioyondPeptide_ReagentTrough(Container):
+    def __init__(self, *args, **kwargs):
+        kwargs.setdefault("size_x", 127.76)
+        kwargs.setdefault("size_y", 85.48)
+        kwargs.setdefault("size_z", 44.0)
+        kwargs.setdefault("max_volume", 300000.0)
+        kwargs.setdefault("model", "bioyond_peptide_reagent_trough")
+        super().__init__(*args, **kwargs)
+
+
+DEFAULT_PEPTIDE_MATERIAL_TYPE_MAPPINGS = {
+    "bioyond_peptide_1000ul_tip_rack": ["1000μL枪头盒", "3a1890bb-736e-cfdd-3213-eb314e8a60f9"],
+    "bioyond_peptide_200ul_tip_rack": ["200μL枪头盒", "3a1890bb-36d1-964a-18bd-0bf0f2877a7b"],
+    "bioyond_peptide_50ul_tip_rack": ["50μL枪头盒", "3a1890bc-5fae-361c-cc09-e6f2f6dcd71d"],
+    "bioyond_peptide_96_well_deep_well_plate": ["96孔深孔板", "3a1890bc-1fa8-fe39-9faa-12279ed4569b"],
+    "bioyond_peptide_96_well_synthesis_plate": ["96孔固相合成板", "3a1871cb-99f3-f01d-23e2-08dbbd0045b5"],
+    "bioyond_peptide_96_well_synthesis_plate_base": ["96孔固相合成板底座", "3a1b997e-241b-64f0-80d1-47bca08799d1"],
+    "bioyond_peptide_96_well_balance_plate": ["96孔配平板", "3a187661-2378-1e20-fa5c-a27d49fdc15d"],
+    "bioyond_peptide_384_well_plate": ["384孔酶标板", "3a1890bf-2148-ed20-92bd-d85869947d9a"],
+    "bioyond_peptide_384_lcms_plate": ["384孔LCMS板", "3a1e6a8b-cb61-74da-a089-8e6f197f80f0"],
+    "bioyond_peptide_384_balance_plate": ["384孔配平板", "3a18be7e-47cc-888c-fc68-055753286826"],
+    "bioyond_peptide_cover_plate": ["防挥发盖板", "3a19d5a6-b0e2-b486-e5eb-bcabc632f4de"],
+    "bioyond_peptide_sealing_base": ["封膜底座", "3a1d1d7b-e33b-6975-165d-c56cba5ed345"],
+    "bioyond_peptide_reagent_trough": ["12道试剂槽", "3a18b431-ac58-ca2e-9680-2a4f5880ea45"],
+}
+
+
+MATERIAL_TYPE_CODE_TO_CLASS = {
+    "0001": BioyondPeptide_96WellSynthesisPlate,
+    "0002": BioyondPeptide_96WellBalancePlate,
+    "0008": BioyondPeptide_200ul_TipRack,
+    "0009": BioyondPeptide_1000ul_TipRack,
+    "0011": BioyondPeptide_96WellDeepWellPlate,
+    "0012": BioyondPeptide_50ul_TipRack,
+    "0016": BioyondPeptide_384WellPlate,
+    "0018": BioyondPeptide_384WellPlate,
+    "0024": BioyondPeptide_ReagentTrough,
+    "0026": BioyondPeptide_384BalancePlate,
+    "0035": BioyondPeptide_CoverPlate,
+    "0039": BioyondPeptide_96WellSynthesisPlateBase,
+    "0041": BioyondPeptide_SealingBase,
+    "0049": BioyondPeptide_384LCMSPlate,
+}
+
+
+def get_material_class_by_type_code(type_code: str):
+    """Return a peptide material class by Bioyond material type code."""
+    return MATERIAL_TYPE_CODE_TO_CLASS.get(type_code)

unilabos/resources/bioyond/warehouses.py

@@ -1,5 +1,192 @@
+from pylabrobot.resources import Coordinate
+from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
+
 from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
+
+class BioyondWareHouse(WareHouse):
+    """Bioyond 仓库，额外保存服务端 x/y 坐标和库位标签语义。"""
+
+    def __init__(self, *args, bioyond_axis: str = "xy_row_col", bioyond_key_axis: str = "row_col", **kwargs):
+        super().__init__(*args, **kwargs)
+        self.bioyond_axis = bioyond_axis
+        self.bioyond_key_axis = bioyond_key_axis
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        data["bioyond_axis"] = self.bioyond_axis
+        data["bioyond_key_axis"] = self.bioyond_key_axis
+        return data
+
+
+def bioyond_warehouse_numeric_stack(
+    name: str,
+    rows: int = 10,
+    columns: int = 17,
+    bioyond_axis: str = "xy_row_col",
+    bioyond_key_axis: str = "row_col",
+    frontend_y_flip: bool = False,
+) -> WareHouse:
+    """创建 Bioyond 数字库位堆栈，库位名使用服务端返回的 行-列 格式。
+
+    bioyond_axis: 仓库级别的 Bioyond 坐标轴约定，供 graphio 的坐标映射使用。
+        - "xy_row_col" (default): Bioyond x→row, y→col (reaction/peptide 历史约定).
+        - "xy_col_row": Bioyond x→col, y→row (Sirna live API 实测约定).
+    bioyond_key_axis: 库位标签生成约定。
+        - "row_col" (default): 视觉行列和标签行列一致，例如 10 行 x 17 列 → 1-1..10-17。
+        - "col_row": 视觉行列转置，但标签仍保持 Bioyond row-col，例如
+          17 行 x 10 列 → 1-1..10-17。
+    未设置时 graphio 回退到默认 "xy_row_col"，其他调用方保持原行为。
+    """
+    num_items_x = columns
+    num_items_y = rows
+    num_items_z = 1
+    dx = 10.0
+    dy = 10.0
+    dz = 10.0
+    item_dx = 147.0
+    item_dy = 106.0
+    item_dz = 130.0
+    resource_size_x = 127.0
+    resource_size_y = 86.0
+    resource_size_z = 25.0
+    size_y = dy + item_dy * num_items_y
+    locations = []
+    for row in range(num_items_y):
+        display_y = dy + row * item_dy
+        y = size_y - display_y - resource_size_y if frontend_y_flip else display_y
+        for col in range(num_items_x):
+            locations.append(Coordinate(dx + col * item_dx, y, dz))
+    holders = create_homogeneous_resources(
+        klass=ResourceHolder,
+        locations=locations,
+        resource_size_x=resource_size_x,
+        resource_size_y=resource_size_y,
+        resource_size_z=resource_size_z,
+        name_prefix=name,
+    )
+    if bioyond_key_axis == "row_col":
+        keys = [
+            f"{row + 1}-{col + 1}"
+            for row in range(num_items_y)
+            for col in range(num_items_x)
+        ]
+    elif bioyond_key_axis == "col_row":
+        keys = [
+            f"{col + 1}-{row + 1}"
+            for row in range(num_items_y)
+            for col in range(num_items_x)
+        ]
+    else:
+        raise ValueError(f"未知 Bioyond 库位标签约定: {bioyond_key_axis!r}")
+    warehouse = BioyondWareHouse(
+        name=name,
+        size_x=dx + item_dx * num_items_x,
+        size_y=size_y,
+        size_z=dz + item_dz * num_items_z,
+        num_items_x=num_items_x,
+        num_items_y=num_items_y,
+        num_items_z=num_items_z,
+        ordering_layout="row-major",
+        sites={key: holder for key, holder in zip(keys, holders.values())},
+        category="warehouse",
+        bioyond_axis=bioyond_axis,
+        bioyond_key_axis=bioyond_key_axis,
+    )
+    return warehouse
+
+
+def bioyond_warehouse_live_grid(
+    name: str,
+    rows: int,
+    columns: int,
+    slot_keys: list[str] | None = None,
+    bioyond_axis: str = "xy_col_row",
+    bioyond_key_axis: str = "row_col",
+    frontend_y_flip: bool = False,
+) -> WareHouse:
+    """创建 Bioyond 实测库位网格，按服务端 code 保存位点标签。
+
+    默认用于 Peptide live API 返回的坐标：x 是视觉列，y 是视觉行。
+    当服务端 code 重复时，为保持 PLR ordering 唯一性，会给后续重复项追加 ``#N``。
+    """
+    num_items_x = columns
+    num_items_y = rows
+    num_items_z = 1
+    dx = 10.0
+    dy = 10.0
+    dz = 10.0
+    item_dx = 147.0
+    item_dy = 106.0
+    item_dz = 130.0
+    resource_size_x = 127.0
+    resource_size_y = 86.0
+    resource_size_z = 25.0
+    size_y = dy + item_dy * num_items_y
+    locations = []
+    for row in range(num_items_y):
+        display_y = dy + row * item_dy
+        y = size_y - display_y - resource_size_y if frontend_y_flip else display_y
+        for col in range(num_items_x):
+            locations.append(Coordinate(dx + col * item_dx, y, dz))
+    holders = create_homogeneous_resources(
+        klass=ResourceHolder,
+        locations=locations,
+        resource_size_x=resource_size_x,
+        resource_size_y=resource_size_y,
+        resource_size_z=resource_size_z,
+        name_prefix=name,
+    )
+    keys = slot_keys or [str(index + 1) for index in range(num_items_x * num_items_y)]
+    if len(keys) != len(holders):
+        raise ValueError(f"{name} 库位数量不匹配: keys={len(keys)}, holders={len(holders)}")
+
+    seen: dict[str, int] = {}
+    unique_keys: list[str] = []
+    for key in keys:
+        count = seen.get(key, 0) + 1
+        seen[key] = count
+        unique_keys.append(key if count == 1 else f"{key}#{count}")
+
+    return BioyondWareHouse(
+        name=name,
+        size_x=dx + item_dx * num_items_x,
+        size_y=size_y,
+        size_z=dz + item_dz * num_items_z,
+        num_items_x=num_items_x,
+        num_items_y=num_items_y,
+        num_items_z=num_items_z,
+        ordering_layout="row-major",
+        sites={key: holder for key, holder in zip(unique_keys, holders.values())},
+        category="warehouse",
+        bioyond_axis=bioyond_axis,
+        bioyond_key_axis=bioyond_key_axis,
+    )
+
+
+# ================ 小核酸工作站相关堆栈 ================
+
+def bioyond_warehouse_sirna_g3_liquid_handler(name: str = "G3移液站") -> WareHouse:
+    """创建小核酸 G3 移液站库位堆栈：显示为 14 行 x 1 列，标签保持 1-1..1-14。"""
+    return bioyond_warehouse_numeric_stack(
+        name, rows=14, columns=1, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
+    )
+
+
+def bioyond_warehouse_sirna_automation_stack(name: str = "自动化堆栈") -> WareHouse:
+    """创建小核酸自动化堆栈：显示为 17 行 x 10 列，标签保持 1-1..10-17。"""
+    return bioyond_warehouse_numeric_stack(
+        name, rows=17, columns=10, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
+    )
+
+
+def bioyond_warehouse_sirna_centrifuge_balance_plate_stack(name: str = "离心机配平板堆栈") -> WareHouse:
+    """创建小核酸离心机配平板堆栈：显示为 1 行 x 2 列，标签保持 1-1、2-1。"""
+    return bioyond_warehouse_numeric_stack(
+        name, rows=1, columns=2, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
+    )
+
+
 # ================ 反应站相关堆栈 ================
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:

unilabos/resources/graphio.py

@@ -736,7 +736,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             logger.warning(f"物料 {unique_name} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
             continue
 
-        plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
+        plr_material.code = material.get("barCode") or material.get("code") or ""
         plr_material.unilabos_uuid = str(uuid.uuid4())
 
         # ⭐ 保存 Bioyond 原始信息到 unilabos_extra（用于出库时查询）
@@ -864,11 +864,22 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     warehouse = deck.warehouses[wh_name]
                     logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
 
-                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
-                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
-                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
+                    # Bioyond坐标映射:
+                    # - 历史 row_col 仓库中 x/y 直接按行/列参与索引。
+                    # - Sirna 的库位标签为 col-row，stock-material 返回 x=标签第二段、y=标签第一段。
+                    #   因此 x=13,y=4 应落到 key=4-13，而不是交换后落到 3-5。
+                    x = loc.get("x", 1)
+                    y = loc.get("y", 1)
                     z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
 
+                    # 仓库级别的轴约定覆盖。
+                    # 对旧的 row-col 视觉标签，bioyond_axis="xy_col_row" 需要交换 x/y。
+                    # 对 Sirna 的 col-row 库位标签，原始 x/y 已能直接索引到 code 对应位置，不再交换。
+                    bioyond_axis = getattr(warehouse, "bioyond_axis", "xy_row_col")
+                    bioyond_key_axis = getattr(warehouse, "bioyond_key_axis", "row_col")
+                    if bioyond_axis == "xy_col_row" and bioyond_key_axis != "col_row":
+                        x, y = y, x
+
                     # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
                     if wh_name == "堆栈1右":
                         y = y - 4  # 将5-8映射到1-4
@@ -912,10 +923,43 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                             logger.debug(f"列优先warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
 
                     if 0 <= idx < warehouse.capacity:
-                        if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
+                        slot_key = None
+                        ordering = getattr(warehouse, "_ordering", {})
+                        sites = getattr(warehouse, "sites", [])
+                        if isinstance(ordering, dict) and idx < len(sites):
+                            site_at_idx = sites[idx]
+                            slot_key = next(
+                                (key for key, site in ordering.items() if site is site_at_idx),
+                                None,
+                            )
+
+                        current_resource = warehouse[idx]
+                        if current_resource is None or isinstance(current_resource, (ResourceHolder, str)):
+                            if isinstance(current_resource, str):
+                                logger.warning(
+                                    f"⚠️ 物料 {unique_name} 覆盖 {wh_name}[{idx}]"
+                                    f"{f'({slot_key})' if slot_key else ''} 的旧占位 occupied_by={current_resource!r}"
+                                )
                             # 物料尺寸已在放入warehouse前根据需要进行了交换
                             warehouse[idx] = plr_material
-                            logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
+                            logger.debug(
+                                f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}]"
+                                f"{f'({slot_key})' if slot_key else ''} "
+                                f"(Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})"
+                            )
+                        else:
+                            parent = getattr(current_resource, "parent", None)
+                            current_repr = repr(current_resource)
+                            current_len = len(current_resource) if isinstance(current_resource, str) else None
+                            logger.warning(
+                                f"⚠️ 物料 {unique_name} 跳过放置到 {wh_name}[{idx}]"
+                                f"{f'({slot_key})' if slot_key else ''}：目标库位已有 "
+                                f"{type(current_resource).__name__}"
+                                f"(value={current_repr}, len={current_len})"
+                                f"(name={getattr(current_resource, 'name', None)}, "
+                                f"parent={getattr(parent, 'name', None)}, "
+                                f"uuid={getattr(current_resource, 'unilabos_uuid', None)})"
+                            )
                     else:
                         logger.warning(f"❌ 物料 {unique_name} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
                 else:

unilabos/resources/plr_additional_res_reg.py

@@ -18,3 +18,7 @@ def register():
     from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
     from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 
+    # noinspection PyUnresolvedReferences
+    from unilabos.resources.bioyond.decks import BIOYOND_SirnaStation_Deck
+    # noinspection PyUnresolvedReferences
+    from unilabos.resources.bioyond.decks import BIOYOND_PeptideStation_Deck

unilabos/ros/nodes/base_device_node.py

@@ -1971,10 +1971,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         mapped_plr_resources = []
         for uuid in uuids_list:
+            found = None
             for plr_resource in figured_resources:
                 r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
-                mapped_plr_resources.append(r)
-                break
+                if r is not None:
+                    found = r
+                    break
+            if found is None:
+                raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
+            mapped_plr_resources.append(found)
 
         return mapped_plr_resources
 

unilabos/utils/environment_check.py

@@ -33,10 +33,76 @@ _USE_UV: Optional[bool] = None
 def _has_uv() -> bool:
     global _USE_UV
     if _USE_UV is None:
-        _USE_UV = shutil.which("uv") is not None
+        uv_path = shutil.which("uv")
+        if not uv_path:
+            _USE_UV = False
+        else:
+            try:
+                result = subprocess.run([uv_path, "--version"], capture_output=True, text=True, timeout=10)
+                _USE_UV = result.returncode == 0
+            except Exception:
+                _USE_UV = False
     return _USE_UV
 
 
+def _install_command(installer: str, package: str, upgrade: bool, is_chinese: bool) -> List[str]:
+    if installer == "uv":
+        cmd = ["uv", "pip", "install"]
+        if upgrade:
+            cmd.append("--upgrade")
+        cmd.append(package)
+        if is_chinese:
+            cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+        return cmd
+
+    cmd = [sys.executable, "-m", "pip", "install", "--disable-pip-version-check"]
+    if upgrade:
+        cmd.append("--upgrade")
+    cmd.append(package)
+    if is_chinese:
+        cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+    return cmd
+
+
+def _installer_candidates() -> List[str]:
+    installers: List[str] = []
+    if _has_uv():
+        installers.append("uv")
+    installers.append("pip")
+    return installers
+
+
+def _git_url_from_requirement(requirement: str) -> Optional[str]:
+    if not requirement.startswith("git+"):
+        return None
+    return requirement[4:].split("#", 1)[0]
+
+
+def _repo_dir_name(git_url: str) -> str:
+    repo_name = git_url.rstrip("/").rsplit("/", 1)[-1]
+    return repo_name[:-4] if repo_name.endswith(".git") else repo_name
+
+
+def _print_manual_git_install_hint(requirement: str) -> None:
+    git_url = _git_url_from_requirement(requirement)
+    if not git_url:
+        return
+
+    repo_dir = _repo_dir_name(git_url)
+    install_cmd = "uv pip install -e ." if _has_uv() else f"{sys.executable} -m pip install -e ."
+    if _is_chinese_locale() and not _has_uv():
+        install_cmd += " -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
+
+    print_status("Git 依赖自动安装失败，通常是网络连接被重置或代码托管站点暂时不可达。", "warning")
+    print_status("可以手动拉取代码后在本地安装:", "warning")
+    print_status(f"  git clone {git_url}", "warning")
+    print_status(f"  cd {repo_dir}", "warning")
+    print_status("  git pull", "warning")
+    print_status(f"  {install_cmd}", "warning")
+    print_status(f"如果目录 {repo_dir} 已存在，直接进入该目录执行 git pull 后再安装。", "warning")
+    print_status("如果 git clone 仍失败，请切换网络/代理，或从浏览器下载源码后进入源码目录执行本地安装命令。", "warning")
+
+
 def _install_packages(
     packages: List[str],
     upgrade: bool = False,
@@ -53,7 +119,7 @@ def _install_packages(
         return True
 
     is_chinese = _is_chinese_locale()
-    use_uv = _has_uv()
+    installers = _installer_candidates()
     failed: List[str] = []
 
     for pkg in packages:
@@ -63,35 +129,30 @@ def _install_packages(
         else:
             print_status(f"正在{action_word} {pkg}...", "info")
 
-        if use_uv:
-            cmd = ["uv", "pip", "install"]
-            if upgrade:
-                cmd.append("--upgrade")
-            cmd.append(pkg)
-            if is_chinese:
-                cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
-        else:
-            cmd = [sys.executable, "-m", "pip", "install"]
-            if upgrade:
-                cmd.append("--upgrade")
-            cmd.append(pkg)
-            if is_chinese:
-                cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+        pkg_installed = False
+        last_error = "unknown error"
 
-        try:
-            result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
-            if result.returncode == 0:
-                installer = "uv" if use_uv else "pip"
-                print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
-            else:
-                stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
-                print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error")
-                failed.append(pkg)
-        except subprocess.TimeoutExpired:
-            print_status(f"× {pkg} {action_word}超时 (300s)", "error")
-            failed.append(pkg)
-        except Exception as e:
-            print_status(f"× {pkg} {action_word}异常: {e}", "error")
+        for installer in installers:
+            cmd = _install_command(installer, pkg, upgrade, is_chinese)
+            try:
+                result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
+                if result.returncode == 0:
+                    print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
+                    pkg_installed = True
+                    break
+
+                last_error = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
+                print_status(f"× {pkg} {action_word}失败 (via {installer}): {last_error}", "warning")
+            except subprocess.TimeoutExpired:
+                last_error = "timeout after 300s"
+                print_status(f"× {pkg} {action_word}超时 (via {installer}, 300s)", "warning")
+            except Exception as e:
+                last_error = str(e)
+                print_status(f"× {pkg} {action_word}异常 (via {installer}): {e}", "warning")
+
+        if not pkg_installed:
+            print_status(f"× {pkg} {action_word}失败: {last_error}", "error")
+            _print_manual_git_install_hint(pkg)
             failed.append(pkg)
 
     if failed:
@@ -188,7 +249,13 @@ class EnvironmentChecker:
             "crcmod": "crcmod-plus",
         }
 
-        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
+        # 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
+        pylabrobot_url = (
+            "git+https://gitee.com/xuwznln/pylabrobot.git"
+            if _is_chinese_locale()
+            else "git+https://github.com/Xuwznln/pylabrobot.git"
+        )
+        self.special_packages = {"pylabrobot": pylabrobot_url}
 
         self.version_requirements = {
             "msgcenterpy": "0.1.8",

unilabos/utils/import_manager.py

@@ -206,6 +206,7 @@ class ImportManager:
             "ast_analysis_success": False,
             "import_map": {},
             "init_params": [],
+            "init_docstring": None,
             "status_methods": {},
             "action_methods": {},
         }
@@ -251,6 +252,7 @@ class ImportManager:
 
         # 映射到统一字段名（与 registry.py complete_registry 消费端一致）
         result["init_params"] = body.get("init_params", [])
+        result["init_docstring"] = body.get("init_docstring")
         result["status_methods"] = body.get("status_properties", {})
         result["action_methods"] = {
             k: {

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>0.10.19</version>
+  <version>0.11.1</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>