refactor: 深度精简4个协议编译器的装饰性日志 (-335行)

dissolve, pump, stir, adjustph: 移除emoji分隔线、步骤播报、
逐字段参数dump等纯装饰性log，保留错误/警告/关键决策日志。

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.17
+  version: 0.10.19
 
 source:
   path: ../../unilabos
@@ -46,13 +46,15 @@ requirements:
   - jinja2
   - requests
   - uvicorn
-  - opcua # [not osx]
+  - if: not osx
+    then:
+    - opcua
   - pyserial
   - pandas
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.17
+  - uni-lab::unilabos-env ==0.10.19
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.17
+  version: 0.10.19
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.17
+  version: 0.10.19
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.17
+  - uni-lab::unilabos ==0.10.19
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

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

@@ -0,0 +1,160 @@
+---
+name: add-device
+description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
+---
+
+# 添加新设备到 Uni-Lab-OS
+
+**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
+
+该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
+
+---
+
+## 装饰器参考
+
+### @device — 设备类装饰器
+
+```python
+from unilabos.registry.decorators import device
+
+# 单设备
+@device(
+    id="my_device.vendor",           # 注册表唯一标识（必填）
+    category=["temperature"],         # 分类标签列表（必填）
+    description="设备描述",            # 设备描述
+    display_name="显示名称",           # UI 显示名称（默认用 id）
+    icon="DeviceIcon.webp",           # 图标文件名
+    version="1.0.0",                  # 版本号
+    device_type="python",             # "python" 或 "ros2"
+    handles=[...],                    # 端口列表（InputHandle / OutputHandle）
+    model={...},                      # 3D 模型配置
+    hardware_interface=HardwareInterface(...),  # 硬件通信接口
+)
+
+# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
+@device(
+    ids=["pump.vendor.model_A", "pump.vendor.model_B"],
+    id_meta={
+        "pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
+        "pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
+    },
+    category=["pump_and_valve"],
+)
+```
+
+### @action — 动作方法装饰器
+
+```python
+from unilabos.registry.decorators import action
+
+@action                              # 无参：注册为 UniLabJsonCommand 动作
+@action()                            # 同上
+@action(description="执行操作")       # 带描述
+@action(
+    action_type=HeatChill,           # 指定 ROS Action 消息类型
+    goal={"temperature": "temp"},    # Goal 字段映射
+    feedback={},                     # Feedback 字段映射
+    result={},                       # Result 字段映射
+    handles=[...],                   # 动作级别端口
+    goal_default={"temp": 25.0},     # Goal 默认值
+    placeholder_keys={...},          # 参数占位符
+    always_free=True,                # 不受排队限制
+    auto_prefix=True,                # 强制使用 auto- 前缀
+    parent=True,                     # 从父类 MRO 获取参数签名
+)
+```
+
+**自动识别规则：**
+- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
+- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
+- `_` 开头的方法 → 不扫描
+- `@not_action` 标记的方法 → 排除
+
+### @topic_config — 状态属性配置
+
+```python
+from unilabos.registry.decorators import topic_config
+
+@property
+@topic_config(
+    period=5.0,            # 发布周期（秒），默认 5.0
+    print_publish=False,   # 是否打印发布日志
+    qos=10,                # QoS 深度，默认 10
+    name="custom_name",    # 自定义发布名称（默认用属性名）
+)
+def temperature(self) -> float:
+    return self.data.get("temperature", 0.0)
+```
+
+### 辅助装饰器
+
+```python
+from unilabos.registry.decorators import not_action, always_free
+
+@not_action          # 标记为非动作（post_init、辅助方法等）
+@always_free         # 标记为不受排队限制（查询类操作）
+```
+
+---
+
+## 设备模板
+
+```python
+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
+
+@device(id="my_device", category=["my_category"], description="设备描述")
+class MyDevice:
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        self.device_id = device_id or "my_device"
+        self.config = config or {}
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+        self.data: Dict[str, Any] = {"status": "Idle"}
+
+    @not_action
+    def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
+        self._ros_node = ros_node
+
+    @action
+    async def initialize(self) -> bool:
+        self.data["status"] = "Ready"
+        return True
+
+    @action
+    async def cleanup(self) -> bool:
+        self.data["status"] = "Offline"
+        return True
+
+    @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"""
+        return {"success": True}
+
+    def get_info(self) -> Dict[str, Any]:
+        """无 @action → 自动注册为 'auto-get_info' 动作"""
+        return {"device_id": self.device_id}
+
+    @property
+    @topic_config()
+    def status(self) -> str:
+        return self.data.get("status", "Idle")
+
+    @property
+    @topic_config(period=2.0)
+    def temperature(self) -> float:
+        return self.data.get("temperature", 0.0)
+```
+
+### 要点
+
+- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
+- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
+- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
+- 运行时状态存储在 `self.data` 字典中
+- 设备文件放在 `unilabos/devices/<category>/` 目录下

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

@@ -0,0 +1,351 @@
+---
+name: add-resource
+description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
+---
+
+# 添加新物料资源
+
+Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
+
+---
+
+## 资源类型
+
+| 类型 | 基类 | 用途 | 示例 |
+|------|------|------|------|
+| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
+| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
+| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
+| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
+
+**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
+
+WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
+
+---
+
+## @resource 装饰器
+
+```python
+from unilabos.registry.decorators import resource
+
+@resource(
+    id="my_resource_id",        # 注册表唯一标识（必填）
+    category=["bottles"],       # 分类标签列表（必填）
+    description="资源描述",
+    icon="",                    # 图标
+    version="1.0.0",
+    handles=[...],              # 端口列表（InputHandle / OutputHandle）
+    model={...},                # 3D 模型配置
+    class_type="pylabrobot",    # "python" / "pylabrobot" / "unilabos"
+)
+```
+
+---
+
+## 创建规范
+
+### 命名规则
+
+1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
+2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
+
+### 子物料命名示例
+
+```python
+# Carrier 内部的 sites 用 name 前缀
+for k, v in sites.items():
+    v.name = f"{name}_{v.name}"     # "堆栈1左_A01", "堆栈1左_B02" ...
+
+# Carrier 中放置 Bottle 时用 name 前缀
+carrier[0] = My_Reagent_Bottle(f"{name}_flask_1")    # "堆栈1左_flask_1"
+carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}")  # "堆栈1左_vial_A1"
+
+# create_homogeneous_resources 使用 name_prefix
+sites=create_homogeneous_resources(
+    klass=ResourceHolder,
+    locations=[...],
+    name_prefix=name,  # 自动生成 "{name}_0", "{name}_1" ...
+)
+
+# Deck setup 中用仓库名称作为 name 传入
+self.warehouses = {
+    "堆栈1左": my_warehouse_4x4("堆栈1左"),   # WareHouse.name = "堆栈1左"
+    "试剂堆栈": my_reagent_stack("试剂堆栈"),  # WareHouse.name = "试剂堆栈"
+}
+```
+
+### 其他规范
+
+- **max_volume 单位为 μL**：500mL = 500000
+- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
+- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
+- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
+- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
+- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
+- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
+
+---
+
+## 资源模板
+
+### Bottle
+
+```python
+from unilabos.registry.decorators import resource
+from unilabos.resources.itemized_carrier import Bottle
+
+
+@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
+def My_Reagent_Bottle(
+    name: str,
+    diameter: float = 70.0,
+    height: float = 120.0,
+    max_volume: float = 500000.0,
+    barcode: str = None,
+) -> Bottle:
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="My_Reagent_Bottle",
+    )
+```
+
+**Bottle 参数：**
+- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
+- `diameter`: 瓶体直径 (mm)
+- `height`: 瓶体高度 (mm)
+- `max_volume`: 最大容积（**μL**，500mL = 500000）
+- `barcode`: 条形码（可选）
+
+### BottleCarrier
+
+```python
+from pylabrobot.resources import ResourceHolder
+from pylabrobot.resources.carrier import create_ordered_items_2d
+from unilabos.resources.itemized_carrier import BottleCarrier
+from unilabos.registry.decorators import resource
+
+
+@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
+def My_6SlotCarrier(name: str) -> BottleCarrier:
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3, num_items_y=2,
+        dx=10.0, dy=10.0, dz=5.0,
+        item_dx=42.0, item_dy=35.0,
+        size_x=20.0, size_y=20.0, size_z=50.0,
+    )
+    # 子 site 用 name 作为前缀
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name, size_x=146.0, size_y=80.0, size_z=55.0,
+        sites=sites, model="My_6SlotCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+
+    # 放置 Bottle 时用 name 作为前缀
+    ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
+    for i in range(6):
+        carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
+    return carrier
+```
+
+### WareHouse / Deck 放置位
+
+WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
+
+#### WareHouse（使用 warehouse_factory）
+
+```python
+from unilabos.resources.warehouse import warehouse_factory
+from unilabos.registry.decorators import resource
+
+
+@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
+def my_warehouse_4x4(name: str) -> "WareHouse":
+    return warehouse_factory(
+        name=name,
+        num_items_x=4, num_items_y=4, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,             # 第一个 slot 的起始偏移
+        item_dx=147.0, item_dy=106.0, item_dz=130.0,  # slot 间距
+        resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0,  # slot 尺寸
+        model="my_warehouse_4x4",
+        col_offset=0,       # 列标签起始偏移（0 → A01, 4 → A05）
+        layout="row-major",  # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
+    )
+```
+
+`warehouse_factory` 参数说明：
+- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
+- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
+- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
+- `layout`：影响 slot 标签和坐标映射
+  - `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
+  - `"col-major"`：A01,B01,...,A02,B02,...（列优先）
+  - `"vertical-col-major"`：竖向排列，y 坐标反向
+
+#### Deck 组装 WareHouse
+
+Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
+
+```python
+from pylabrobot.resources import Deck, Coordinate
+from unilabos.registry.decorators import resource
+
+
+@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
+class MyStation_Deck(Deck):
+    def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
+                 category="deck", setup=False, **kwargs) -> None:
+        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        self.warehouses = {
+            "堆栈1左": my_warehouse_4x4("堆栈1左"),
+            "堆栈1右": my_warehouse_4x4("堆栈1右"),
+        }
+        self.warehouse_locations = {
+            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 自行测量计算
+            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),
+        }
+        for wh_name, wh in self.warehouses.items():
+            self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
+```
+
+#### Site 模式（前端定向放置）
+
+适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
+
+```python
+import collections
+from typing import Any, Dict, List, Optional
+from pylabrobot.resources import Deck, Resource, Coordinate
+from unilabos.registry.decorators import resource
+
+
+@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
+class MyLabDeck(Deck):
+    # 根据设备台面实测批量计算各 slot 坐标偏移
+    _DEFAULT_SITE_POSITIONS = [
+        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),       # T1-T4
+        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),   # T5-T8
+    ]
+    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
+    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
+
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
+        super().__init__(size_x, size_y, size_z, name)
+        if sites is not None:
+            self.sites = [dict(s) for s in sites]
+        else:
+            self.sites = []
+            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
+                self.sites.append({
+                    "label": f"T{i + 1}",          # 前端显示的槽位标签
+                    "visible": True,                # 是否在前端可见
+                    "position": {"x": x, "y": y, "z": z},  # 槽位物理坐标
+                    "size": dict(self._DEFAULT_SITE_SIZE),  # 槽位尺寸
+                    "content_type": list(self._DEFAULT_CONTENT_TYPE),  # 允许放入的物料类型
+                })
+        self._ordering = collections.OrderedDict(
+            (site["label"], None) for site in self.sites
+        )
+
+    def assign_child_resource(self, resource: Resource,
+                              location: Optional[Coordinate] = None,
+                              reassign: bool = True,
+                              spot: Optional[int] = None):
+        idx = spot
+        if spot is None:
+            for i, site in enumerate(self.sites):
+                if site.get("label") == resource.name:
+                    idx = i
+                    break
+        if idx is None:
+            for i in range(len(self.sites)):
+                if self._get_site_resource(i) is None:
+                    idx = i
+                    break
+        if idx is None:
+            raise ValueError(f"No available site for '{resource.name}'")
+        loc = Coordinate(**self.sites[idx]["position"])
+        super().assign_child_resource(resource, location=loc, reassign=reassign)
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        sites_out = []
+        for i, site in enumerate(self.sites):
+            occupied = self._get_site_resource(i)
+            sites_out.append({
+                "label": site["label"],
+                "visible": site.get("visible", True),
+                "occupied_by": occupied.name if occupied else None,
+                "position": site["position"],
+                "size": site["size"],
+                "content_type": site["content_type"],
+            })
+        data["sites"] = sites_out
+        return data
+```
+
+**Site 字段说明：**
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
+| `visible` | bool | 是否在前端可见 |
+| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
+| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
+| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
+
+**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
+
+---
+
+## 文件位置
+
+```
+unilabos/resources/
+├── <project>/              # 按项目分组
+│   ├── bottles.py          # Bottle 工厂函数
+│   ├── bottle_carriers.py  # Carrier 工厂函数
+│   ├── warehouses.py       # WareHouse 工厂函数
+│   └── decks.py            # Deck 类定义
+```
+
+---
+
+## 验证
+
+```bash
+# 资源可导入
+python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
+
+# 启动测试（AST 自动扫描）
+unilab -g <graph>.json
+```
+
+仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
+
+---
+
+## 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
+| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
+| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
+| 装饰器定义 | `unilabos/registry/decorators.py` |

.cursor/skills/add-resource/reference.md

@@ -0,0 +1,292 @@
+# 资源高级参考
+
+本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 类继承体系
+
+```
+PyLabRobot
+├── Resource (PLR 基类)
+│   ├── Well
+│   │   └── Bottle (unilabos)        → 瓶/小瓶/烧杯/反应器
+│   ├── Deck
+│   │   └── 自定义 Deck 类 (unilabos) → 工作站台面
+│   ├── ResourceHolder               → 槽位占位符
+│   └── Container
+│       └── Battery (unilabos)       → 组装好的电池
+│
+├── ItemizedCarrier (unilabos, 继承 Resource)
+│   ├── BottleCarrier (unilabos)     → 瓶载架
+│   └── WareHouse (unilabos)         → 堆栈仓库
+│
+├── ItemizedResource (PLR)
+│   └── MagazineHolder (unilabos)    → 子弹夹载架
+│
+└── ResourceStack (PLR)
+    └── Magazine (unilabos)          → 子弹夹洞位
+```
+
+### Bottle 类细节
+
+```python
+class Bottle(Well):
+    def __init__(self, name, diameter, height, max_volume,
+                 size_x=0.0, size_y=0.0, size_z=0.0,
+                 barcode=None, category="container", model=None, **kwargs):
+        super().__init__(
+            name=name,
+            size_x=diameter,    # PLR 用 diameter 作为 size_x/size_y
+            size_y=diameter,
+            size_z=height,      # PLR 用 height 作为 size_z
+            max_volume=max_volume,
+            category=category,
+            model=model,
+            bottom_type="flat",
+            cross_section_type="circle"
+        )
+```
+
+注意 `size_x = size_y = diameter`，`size_z = height`。
+
+### ItemizedCarrier 核心方法
+
+| 方法 | 说明 |
+|------|------|
+| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
+| `__setitem__(identifier, resource)` | 向槽位放入资源 |
+| `get_child_identifier(child)` | 获取子资源的标识符 |
+| `capacity` | 总槽位数 |
+| `sites` | 所有槽位字典 |
+
+---
+
+## 2. 序列化与反序列化
+
+### PLR ↔ UniLab 转换
+
+| 函数 | 位置 | 方向 |
+|------|------|------|
+| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
+| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
+
+### `from_plr_resources` 流程
+
+```
+PLR Resource
+    ↓ build_uuid_mapping (递归生成 UUID)
+    ↓ resource.serialize() → dict
+    ↓ resource.serialize_all_state() → states
+    ↓ resource_plr_inner (递归构建 ResourceDictInstance)
+ResourceTreeSet
+```
+
+关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
+
+### `to_plr_resources` 流程
+
+```
+ResourceTreeSet
+    ↓ collect_node_data (收集 UUID、状态、扩展数据)
+    ↓ node_to_plr_dict (转为 PLR 字典格式)
+    ↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
+    ↓ sub_cls.deserialize(plr_dict) (反序列化)
+    ↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
+PLR Resource
+```
+
+### Bottle 序列化
+
+```python
+class Bottle(Well):
+    def serialize(self) -> dict:
+        data = super().serialize()
+        return {**data, "diameter": self.diameter, "height": self.height}
+
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal=False):
+        barcode_data = data.pop("barcode", None)
+        instance = super().deserialize(data, allow_marshal=allow_marshal)
+        if barcode_data and isinstance(barcode_data, str):
+            instance.barcode = barcode_data
+        return instance
+```
+
+---
+
+## 3. Bioyond 物料同步
+
+### 双向转换函数
+
+| 函数 | 位置 | 方向 |
+|------|------|------|
+| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
+| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
+
+### `resource_bioyond_to_plr` 流程
+
+```
+Bioyond 物料列表
+    ↓ reverse_type_mapping: {typeName → (model, UUID)}
+    ↓ 对每个物料:
+       typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
+       initialize_resource({"name": unique_name, "class": model})
+    ↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
+    ↓ 处理 detail (子物料/坐标)
+    ↓ 按 locationName 放入 deck.warehouses 对应槽位
+PLR 资源列表
+```
+
+### `resource_plr_to_bioyond` 流程
+
+```
+PLR 资源列表
+    ↓ 遍历每个资源:
+       载架(capacity > 1): 生成 details 子物料 + 坐标
+       单瓶: 直接映射
+    ↓ type_mapping 查找 typeId
+    ↓ warehouse_mapping 查找位置 UUID
+    ↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
+Bioyond 物料列表
+```
+
+### BioyondResourceSynchronizer
+
+工作站通过 `ResourceSynchronizer` 自动同步物料：
+
+```python
+class BioyondResourceSynchronizer(ResourceSynchronizer):
+    def sync_from_external(self) -> bool:
+        all_data = []
+        all_data.extend(api_client.stock_material('{"typeMode": 0}'))  # 耗材
+        all_data.extend(api_client.stock_material('{"typeMode": 1}'))  # 样品
+        all_data.extend(api_client.stock_material('{"typeMode": 2}'))  # 试剂
+        unilab_resources = resource_bioyond_to_plr(
+            all_data,
+            type_mapping=self.workstation.bioyond_config["material_type_mappings"],
+            deck=self.workstation.deck
+        )
+        # 更新 deck 上的资源
+```
+
+---
+
+## 4. 非瓶类资源
+
+### ElectrodeSheet（极片）
+
+路径：`unilabos/resources/battery/electrode_sheet.py`
+
+```python
+class ElectrodeSheet(ResourcePLR):
+    """片状材料（极片、隔膜、弹片、垫片等）"""
+    _unilabos_state = {
+        "diameter": 0.0,
+        "thickness": 0.0,
+        "mass": 0.0,
+        "material_type": "",
+        "color": "",
+        "info": "",
+    }
+```
+
+工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
+
+### Battery（电池）
+
+```python
+class Battery(Container):
+    """组装好的电池"""
+    _unilabos_state = {
+        "color": "",
+        "electrolyte_name": "",
+        "open_circuit_voltage": 0.0,
+    }
+```
+
+### Magazine / MagazineHolder（子弹夹）
+
+```python
+class Magazine(ResourceStack):
+    """子弹夹洞位，可堆叠 ElectrodeSheet"""
+    # direction, max_sheets
+
+class MagazineHolder(ItemizedResource):
+    """多洞位子弹夹"""
+    # hole_diameter, hole_depth, max_sheets_per_hole
+```
+
+工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
+
+---
+
+## 5. 仓库工厂模式参考
+
+### 实际 warehouse 工厂函数示例
+
+```python
+# 行优先 4x4 仓库
+def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=4, num_items_y=4, 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,
+        layout="row-major",  # A01,A02,A03,A04, B01,...
+    )
+
+# 右侧 4x4 仓库（列名偏移）
+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=4, num_items_y=4, 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,
+        col_offset=4,      # A05,A06,A07,A08
+        layout="row-major",
+    )
+
+# 竖向仓库（站内试剂存放）
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=1, num_items_y=2, 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,
+        layout="vertical-col-major",
+    )
+
+# 行偏移（F 行开始）
+def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=3, num_items_y=5, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,
+        item_dx=159.0, item_dy=183.0, item_dz=130.0,
+        row_offset=row_offset,  # 0→A行起，5→F行起
+        layout="row-major",
+    )
+```
+
+### layout 类型说明
+
+| layout | 命名顺序 | 适用场景 |
+|--------|---------|---------|
+| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
+| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
+| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
+
+---
+
+## 6. 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
+| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
+| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
+| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
+| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
+| 电池资源 | `unilabos/resources/battery/` |
+| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |

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

@@ -0,0 +1,626 @@
+---
+name: add-workstation
+description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
+---
+
+# Uni-Lab-OS 工作站接入指南
+
+工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
+
+---
+
+## 工作站类型
+
+| 类型                | 基类              | 适用场景                           |
+| ------------------- | ----------------- | ---------------------------------- |
+| **Protocol 工作站** | `ProtocolNode`    | 标准化学操作协议（泵转移、过滤等） |
+| **外部系统工作站**  | `WorkstationBase` | 与外部 LIMS/MES 对接               |
+| **硬件控制工作站**  | `WorkstationBase` | 直接控制 PLC/硬件                  |
+
+---
+
+## @device 装饰器（工作站）
+
+工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
+
+```python
+@device(
+    id="my_workstation",           # 注册表唯一标识（必填）
+    category=["workstation"],      # 分类标签
+    description="我的工作站",
+)
+```
+
+如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
+
+---
+
+## 工作站驱动模板
+
+### 模板 A：基于外部系统的工作站
+
+```python
+import logging
+from typing import Dict, Any, Optional
+from pylabrobot.resources import Deck
+
+from unilabos.registry.decorators import device, topic_config, not_action
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+try:
+    from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+except ImportError:
+    ROS2WorkstationNode = None
+
+
+@device(id="my_workstation", category=["workstation"], description="我的工作站")
+class MyWorkstation(WorkstationBase):
+    _ros_node: "ROS2WorkstationNode"
+
+    def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
+        super().__init__(deck=deck, **kwargs)
+        self.config = config or {}
+        self.logger = logging.getLogger("MyWorkstation")
+        self.api_host = self.config.get("api_host", "")
+        self._status = "Idle"
+
+    @not_action
+    def post_init(self, ros_node: "ROS2WorkstationNode"):
+        super().post_init(ros_node)
+        self._ros_node = ros_node
+
+    async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
+        """注册为工作站动作"""
+        return {"success": True}
+
+    async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
+        """注册为工作站动作"""
+        return {"success": True}
+
+    @property
+    @topic_config()
+    def workflow_sequence(self) -> str:
+        return "[]"
+
+    @property
+    @topic_config()
+    def material_info(self) -> str:
+        return "{}"
+```
+
+### 模板 B：Protocol 工作站
+
+直接使用 `ProtocolNode`，通常不需要自定义驱动类：
+
+```python
+from unilabos.devices.workstation.workstation_base import ProtocolNode
+```
+
+在图文件中配置 `protocol_type` 即可。
+
+---
+
+## 子设备访问（sub_devices）
+
+工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
+
+```python
+# 在工站驱动类的方法中访问子设备
+sub = self._ros_node.sub_devices["pump_1"]
+
+# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
+sub.driver_instance.some_method(arg1, arg2)
+
+# .ros_node_instance — 子设备的 ROS2 节点实例
+sub.ros_node_instance._action_value_mappings  # 查看子设备支持的 action
+```
+
+**常见用法**：
+
+```python
+class MyWorkstation(WorkstationBase):
+    def my_protocol(self, **kwargs):
+        # 获取子设备驱动实例
+        pump = self._ros_node.sub_devices["pump_1"].driver_instance
+        heater = self._ros_node.sub_devices["heater_1"].driver_instance
+
+        # 直接调用子设备方法
+        pump.aspirate(volume=100)
+        heater.set_temperature(80)
+```
+
+> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
+
+---
+
+## 硬件通信接口（hardware_interface）
+
+硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
+
+### 工作原理
+
+`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
+
+**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
+
+**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
+
+```
+hardware_interface = d.ros_node_instance._hardware_interface
+# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
+```
+
+1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
+   - 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
+2. 从通信设备获取真正的 `read`/`write` 方法
+3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
+
+因此：
+
+- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
+- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
+- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
+
+### HardwareInterface 参数说明
+
+```python
+from unilabos.registry.decorators import HardwareInterface
+
+HardwareInterface(
+    name="hardware_interface",   # __init__ 中接收通信实例的属性名
+    read="send_command",         # 通信设备上暴露的读方法名
+    write="send_command",        # 通信设备上暴露的写方法名
+    extra_info=["list_ports"],   # 可选：额外暴露的方法
+)
+```
+
+**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
+
+### 示例 1：泵（name="hardware_interface"）
+
+```python
+from unilabos.registry.decorators import device, HardwareInterface
+
+@device(
+    id="my_pump",
+    category=["pump_and_valve"],
+    hardware_interface=HardwareInterface(
+        name="hardware_interface",
+        read="send_command",
+        write="send_command",
+    ),
+)
+class MyPump:
+    def __init__(self, port=None, address="1", **kwargs):
+        # name="hardware_interface" → 系统替换 self.hardware_interface
+        self.hardware_interface = port  # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
+        self.address = address
+
+    def send_command(self, command: str):
+        full_command = f"/{self.address}{command}\r\n"
+        self.hardware_interface.write(bytearray(full_command, "ascii"))
+        return self.hardware_interface.read_until(b"\n")
+```
+
+### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
+
+```python
+@device(
+    id="solenoid_valve",
+    category=["pump_and_valve"],
+    hardware_interface=HardwareInterface(
+        name="io_device_port",       # 自定义属性名 → 系统替换 self.io_device_port
+        read="read_io_coil",
+        write="write_io_coil",
+    ),
+)
+class SolenoidValve:
+    def __init__(self, io_device_port: str = None, **kwargs):
+        # name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
+        self.io_device_port = io_device_port  # 初始为字符串，系统替换为 Modbus 实例
+```
+
+### Serial 通信设备（class="serial"）
+
+`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
+
+```python
+from serial import Serial, SerialException
+from threading import Lock
+
+class ROS2SerialNode(BaseROS2DeviceNode):
+    def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
+        self.port = port
+        self.baudrate = baudrate
+        self._hardware_interface = {
+            "name": "hardware_interface",
+            "write": "send_command",
+            "read": "read_data",
+        }
+        self._query_lock = Lock()
+
+        self.hardware_interface = Serial(baudrate=baudrate, port=port)
+
+        BaseROS2DeviceNode.__init__(
+            self, driver_instance=self, registry_name=registry_name,
+            device_id=device_id, status_types={}, action_value_mappings={},
+            hardware_interface=self._hardware_interface, print_publish=False,
+        )
+        self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
+
+    def send_command(self, command: str):
+        with self._query_lock:
+            self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
+            return self.hardware_interface.read_until(b"\n").decode()
+
+    def read_data(self):
+        with self._query_lock:
+            return self.hardware_interface.read_until(b"\n").decode()
+```
+
+在图文件中使用 `"class": "serial"` 即可创建串口代理：
+
+```json
+{
+  "id": "serial_pump",
+  "class": "serial",
+  "parent": "my_station",
+  "config": { "port": "COM7", "baudrate": 9600 }
+}
+```
+
+### 图文件配置
+
+**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "class": "workstation",
+      "children": ["serial_pump", "pump_1", "pump_2"],
+      "config": { "protocol_type": ["PumpTransferProtocol"] }
+    },
+    {
+      "id": "serial_pump",
+      "class": "serial",
+      "parent": "my_station",
+      "config": { "port": "COM7", "baudrate": 9600 }
+    },
+    {
+      "id": "pump_1",
+      "class": "syringe_pump_with_valve.runze.SY03B-T08",
+      "parent": "my_station",
+      "config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
+    },
+    {
+      "id": "pump_2",
+      "class": "syringe_pump_with_valve.runze.SY03B-T08",
+      "parent": "my_station",
+      "config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
+    }
+  ],
+  "links": [
+    {
+      "source": "pump_1",
+      "target": "serial_pump",
+      "type": "communication",
+      "port": { "pump_1": "port", "serial_pump": "port" }
+    },
+    {
+      "source": "pump_2",
+      "target": "serial_pump",
+      "type": "communication",
+      "port": { "pump_2": "port", "serial_pump": "port" }
+    }
+  ]
+}
+```
+
+### 通信协议速查
+
+| 协议                 | config 参数                    | 依赖包     | 通信设备 class             |
+| -------------------- | ------------------------------ | ---------- | -------------------------- |
+| Serial (RS232/RS485) | `port`, `baudrate`             | `pyserial` | `serial`                   |
+| Modbus RTU           | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
+| Modbus TCP           | `host`, `port`, `slave_id`     | `pymodbus` | `device_comms/modbus_plc/` |
+| TCP Socket           | `host`, `port`                 | stdlib     | 自定义                     |
+| HTTP API             | `url`, `token`                 | `requests` | `device_comms/rpc.py`      |
+
+参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
+
+---
+
+## Deck 与物料生命周期
+
+### 1. Deck 入参与两种初始化模式
+
+系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
+
+有两种初始化模式：
+
+#### init 初始化（推荐）
+
+`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
+
+```json
+"config": {
+    "deck": {
+        "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+        "_resource_child_name": "PRCXI_Deck"
+    }
+}
+```
+
+#### deserialize 初始化
+
+`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
+
+```json
+"config": {
+    "deck": {
+        "data": {
+            "_resource_child_name": "YB_Bioyond_Deck",
+            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+        }
+    }
+}
+```
+
+没有特殊需求时推荐 init 初始化。
+
+#### config.deck 字段说明
+
+| 字段 | 说明 |
+|------|------|
+| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
+| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
+
+#### 设备 __init__ 接收
+
+```python
+def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
+    super().__init__(deck=deck, **kwargs)
+    # deck 已经是反序列化后的 Deck 实例
+    # → PRCXI9300Deck / BIOYOND_YB_Deck 等
+```
+
+#### Deck 节点（图文件中）
+
+Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
+
+```json
+{
+    "id": "PRCXI_Deck",
+    "parent": "PRCXI",
+    "type": "deck",
+    "class": "",
+    "children": [],
+    "config": {
+        "type": "PRCXI9300Deck",
+        "size_x": 542, "size_y": 374, "size_z": 0,
+        "category": "deck",
+        "sites": [...]
+    },
+    "data": {}
+}
+```
+
+- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
+- `children` 初始为空时，由同步器或手动初始化填充
+- `config.type` 填 Deck 类名
+
+### 2. Deck 为空时自行初始化
+
+如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
+
+```python
+@not_action
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+    if self.deck and not self.deck.children:
+        self._initialize_default_deck()
+
+def _initialize_default_deck(self):
+    from my_labware import My_TipRack, My_Plate
+    self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
+    self.deck.assign_child_resource(My_Plate("T2"), spot=1)
+```
+
+### 3. 物料双向同步
+
+当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
+
+```python
+from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
+
+class MyResourceSynchronizer(ResourceSynchronizer):
+    def sync_from_external(self) -> bool:
+        """从外部系统同步到 self.workstation.deck"""
+        external_data = self._query_external_materials()
+        # 以外部工站为准：根据外部数据反向创建 PLR 资源实例
+        for item in external_data:
+            cls = self._resolve_resource_class(item["type"])
+            resource = cls(name=item["name"], **item["params"])
+            self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
+        return True
+
+    def sync_to_external(self, resource) -> bool:
+        """将 UniLab 侧物料变更同步到外部系统"""
+        # 以 UniLab 为准：将 PLR 资源转为外部格式并推送
+        external_format = self._convert_to_external(resource)
+        return self._push_to_external(external_format)
+
+    def handle_external_change(self, change_info) -> bool:
+        """处理外部系统主动推送的变更"""
+        return True
+```
+
+同步策略取决于业务场景：
+
+- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
+- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
+
+在工作站 `post_init` 中初始化同步器：
+
+```python
+@not_action
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+    self.resource_synchronizer = MyResourceSynchronizer(self)
+    self.resource_synchronizer.sync_from_external()
+```
+
+### 4. 序列化与持久化（serialize / serialize_state）
+
+资源类需正确实现序列化，系统据此完成持久化和前端同步。
+
+**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
+
+```python
+class MyDeck(Deck):
+    def __init__(self, name, size_x, size_y, size_z,
+                 sites=None,          # serialize() 输出的字段
+                 rotation=None,       # serialize() 输出的字段
+                 barcode=None,        # serialize() 输出的字段
+                 **kwargs):           # 兜底：接受所有未知的 serialize 字段
+        super().__init__(size_x, size_y, size_z, name)
+        # ...
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        data["sites"] = [...]  # 自定义字段
+        return data
+```
+
+**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
+
+```python
+class MyPlate(Plate):
+    def __init__(self, name, size_x, size_y, size_z,
+                 material_info=None, **kwargs):
+        super().__init__(name, size_x, size_y, size_z, **kwargs)
+        self._unilabos_state = {}
+        if material_info:
+            self._unilabos_state["Material"] = material_info
+
+    def serialize_state(self) -> Dict[str, Any]:
+        data = super().serialize_state()
+        data.update(self._unilabos_state)
+        return data
+```
+
+关键要点：
+
+- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
+- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
+- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
+
+### 5. 子物料自动同步
+
+子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
+
+### 6. 图文件配置（参考 prcxi_9320_slim.json）
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "type": "device",
+      "class": "my_workstation",
+      "config": {
+        "deck": {
+          "_resource_type": "unilabos.resources.my_module:MyDeck",
+          "_resource_child_name": "my_deck"
+        },
+        "host": "10.20.30.1",
+        "port": 9999
+      }
+    },
+    {
+      "id": "my_deck",
+      "parent": "my_station",
+      "type": "deck",
+      "class": "",
+      "children": [],
+      "config": {
+        "type": "MyLabDeck",
+        "size_x": 542,
+        "size_y": 374,
+        "size_z": 0,
+        "category": "deck",
+        "sites": [
+          {
+            "label": "T1",
+            "visible": true,
+            "occupied_by": null,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": ["plate", "tip_rack", "tube_rack", "adaptor"]
+          }
+        ]
+      },
+      "data": {}
+    }
+  ],
+  "edges": []
+}
+```
+
+Deck 节点要点：
+
+- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
+- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
+- `children` 初始为空（由同步器或手动初始化填充）
+- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
+
+---
+
+## 子设备
+
+子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
+
+子设备约束：
+
+- 图文件中 `parent` 指向工作站 ID
+- 在工作站 `children` 数组中列出
+
+---
+
+## 关键规则
+
+1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
+2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
+3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
+4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
+5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
+6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
+7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
+8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
+9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
+
+---
+
+## 验证
+
+```bash
+# 模块可导入
+python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
+
+# 启动测试（AST 自动扫描）
+unilab -g <graph>.json
+```
+
+---
+
+## 现有工作站参考
+
+| 工作站         | 驱动类                        | 类型     |
+| -------------- | ----------------------------- | -------- |
+| Protocol 通用  | `ProtocolNode`                | Protocol |
+| Bioyond 反应站 | `BioyondReactionStation`      | 外部系统 |
+| 纽扣电池组装   | `CoinCellAssemblyWorkstation` | 硬件控制 |
+
+参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。

.cursor/skills/add-workstation/reference.md

@@ -0,0 +1,371 @@
+# 工作站高级模式参考
+
+本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
+Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 外部系统集成模式
+
+### 1.1 RPC 客户端
+
+与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
+
+```python
+from unilabos.device_comms.rpc import BaseRequest
+
+
+class MySystemRPC(BaseRequest):
+    """外部系统 RPC 客户端"""
+
+    def __init__(self, host: str, api_key: str):
+        super().__init__(host)
+        self.api_key = api_key
+
+    def _request(self, endpoint: str, data: dict = None) -> dict:
+        return self.post(
+            url=f"{self.host}/api/{endpoint}",
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data or {},
+            },
+        )
+
+    def query_status(self) -> dict:
+        return self._request("status/query")
+
+    def create_order(self, order_data: dict) -> dict:
+        return self._request("order/create", order_data)
+```
+
+参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
+
+### 1.2 HTTP 回调服务
+
+接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
+
+```python
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+
+
+class MyWorkstation(WorkstationBase):
+    def __init__(self, config=None, deck=None, **kwargs):
+        super().__init__(deck=deck, **kwargs)
+        self.config = config or {}
+        http_cfg = self.config.get("http_service_config", {})
+        self._http_service_config = {
+            "host": http_cfg.get("http_service_host", "127.0.0.1"),
+            "port": http_cfg.get("http_service_port", 8080),
+        }
+        self.http_service = None
+
+    def post_init(self, ros_node):
+        super().post_init(ros_node)
+        self.http_service = WorkstationHTTPService(
+            workstation_instance=self,
+            host=self._http_service_config["host"],
+            port=self._http_service_config["port"],
+        )
+        self.http_service.start()
+```
+
+**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
+
+| 端点 | 调用的工作站方法 |
+|------|-----------------|
+| `/report/step_finish` | `process_step_finish_report(report_request)` |
+| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
+| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
+| `/report/material_change` | `process_material_change_report(report_data)` |
+| `/report/error_handling` | `handle_external_error(error_data)` |
+
+实现对应方法即可接收回调：
+
+```python
+def process_step_finish_report(self, report_request) -> Dict[str, Any]:
+    """处理步骤完成报告"""
+    step_name = report_request.data.get("stepName")
+    return {"success": True, "message": f"步骤 {step_name} 已处理"}
+
+def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
+    """处理订单完成报告"""
+    order_code = report_request.data.get("orderCode")
+    return {"success": True}
+```
+
+参考：`unilabos/devices/workstation/workstation_http_service.py`
+
+### 1.3 连接监控
+
+独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
+
+```python
+class ConnectionMonitor:
+    def __init__(self, workstation, check_interval=30):
+        self.workstation = workstation
+        self.check_interval = check_interval
+        self._running = False
+        self._thread = None
+
+    def start(self):
+        self._running = True
+        self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
+        self._thread.start()
+
+    def _monitor_loop(self):
+        while self._running:
+            try:
+                # 调用外部系统接口检测连接
+                self.workstation.hardware_interface.ping()
+                status = "online"
+            except Exception:
+                status = "offline"
+            time.sleep(self.check_interval)
+```
+
+参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
+
+---
+
+## 2. Config 结构模式
+
+工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
+
+### 2.1 外部系统连接
+
+```json
+{
+    "api_host": "http://192.168.1.100:8080",
+    "api_key": "YOUR_API_KEY"
+}
+```
+
+### 2.2 HTTP 回调服务
+
+```json
+{
+    "http_service_config": {
+        "http_service_host": "127.0.0.1",
+        "http_service_port": 8080
+    }
+}
+```
+
+### 2.3 物料类型映射
+
+将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
+
+```json
+{
+    "material_type_mappings": {
+        "PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
+        "BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
+    }
+}
+```
+
+### 2.4 仓库映射
+
+将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
+
+```json
+{
+    "warehouse_mapping": {
+        "仓库名": {
+            "uuid": "warehouse-uuid",
+            "site_uuids": {
+                "A01": "site-uuid-A01",
+                "A02": "site-uuid-A02"
+            }
+        }
+    }
+}
+```
+
+### 2.5 工作流映射
+
+将内部工作流名映射到外部系统的工作流 ID。
+
+```json
+{
+    "workflow_mappings": {
+        "internal_workflow_name": "external-workflow-uuid"
+    }
+}
+```
+
+### 2.6 物料默认参数
+
+```json
+{
+    "material_default_parameters": {
+        "NMP": {
+            "unit": "毫升",
+            "density": "1.03",
+            "densityUnit": "g/mL",
+            "description": "N-甲基吡咯烷酮"
+        }
+    }
+}
+```
+
+---
+
+## 3. 资源同步机制
+
+### 3.1 ResourceSynchronizer
+
+抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
+
+```python
+from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
+
+
+class MyResourceSynchronizer(ResourceSynchronizer):
+    def __init__(self, workstation, api_client):
+        super().__init__(workstation)
+        self.api_client = api_client
+
+    def sync_from_external(self) -> bool:
+        """从外部系统拉取物料到 deck"""
+        external_materials = self.api_client.list_materials()
+        for material in external_materials:
+            plr_resource = self._convert_to_plr(material)
+            self.workstation.deck.assign_child_resource(plr_resource, coordinate)
+        return True
+
+    def sync_to_external(self, plr_resource) -> bool:
+        """将 deck 中的物料变更推送到外部系统"""
+        external_data = self._convert_from_plr(plr_resource)
+        self.api_client.update_material(external_data)
+        return True
+
+    def handle_external_change(self, change_info) -> bool:
+        """处理外部系统推送的物料变更"""
+        return True
+```
+
+### 3.2 update_resource — 上传资源树到云端
+
+将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
+
+```python
+# 在 post_init 中上传初始 deck
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
+ROS2DeviceNode.run_async_func(
+    self._ros_node.update_resource, True,
+    **{"resources": [self.deck]}
+)
+
+# 在动作方法中更新特定资源
+ROS2DeviceNode.run_async_func(
+    self._ros_node.update_resource, True,
+    **{"resources": [updated_plate]}
+)
+```
+
+---
+
+## 4. 工作流序列管理
+
+工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
+
+```python
+class MyWorkstation(WorkstationBase):
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self._workflow_sequence = []
+
+    @property
+    def workflow_sequence(self) -> str:
+        """返回 JSON 字符串，ROS 自动发布"""
+        import json
+        return json.dumps(self._workflow_sequence)
+
+    async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
+        """添加工作流到队列"""
+        self._workflow_sequence.append({
+            "name": workflow_name,
+            "status": "pending",
+            "created_at": time.time(),
+        })
+        return {"success": True}
+
+    async def clear_workflows(self) -> Dict[str, Any]:
+        """清空工作流队列"""
+        self._workflow_sequence = []
+        return {"success": True}
+```
+
+---
+
+## 5. 站间物料转移
+
+工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
+
+```python
+async def transfer_materials_to_another_station(
+    self,
+    target_device_id: str,
+    transfer_groups: list,
+    **kwargs,
+) -> Dict[str, Any]:
+    """将物料转移到另一个工作站"""
+    target_node = self._children.get(target_device_id)
+    if not target_node:
+        # 通过 ROS 节点查找非子设备的目标站
+        pass
+
+    for group in transfer_groups:
+        resource = self.find_resource_by_name(group["resource_name"])
+        # 从本站 deck 移除
+        resource.unassign()
+        # 调用目标站的接收方法
+        # ...
+
+    return {"success": True, "transferred": len(transfer_groups)}
+```
+
+参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
+
+---
+
+## 6. post_init 完整模式
+
+`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
+
+```python
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+
+    # 1. 初始化外部系统客户端（此时 config 已可用）
+    self.rpc_client = MySystemRPC(
+        host=self.config.get("api_host"),
+        api_key=self.config.get("api_key"),
+    )
+    self.hardware_interface = self.rpc_client
+
+    # 2. 启动连接监控
+    self.connection_monitor = ConnectionMonitor(self)
+    self.connection_monitor.start()
+
+    # 3. 启动 HTTP 回调服务
+    if hasattr(self, '_http_service_config'):
+        self.http_service = WorkstationHTTPService(
+            workstation_instance=self,
+            host=self._http_service_config["host"],
+            port=self._http_service_config["port"],
+        )
+        self.http_service.start()
+
+    # 4. 上传 deck 到云端
+    ROS2DeviceNode.run_async_func(
+        self._ros_node.update_resource, True,
+        **{"resources": [self.deck]}
+    )
+
+    # 5. 初始化资源同步器（可选）
+    self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
+```

.cursor/skills/batch-insert-reagent/SKILL.md

@@ -0,0 +1,233 @@
+---
+name: batch-insert-reagent
+description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
+---
+
+# 批量录入试剂 Skill
+
+通过云端 API 批量录入试剂信息，支持逐条或批量操作。
+
+## 前置条件（缺一不可）
+
+使用本 skill 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（任选一种方式）：
+
+```bash
+# 方式一：Python 一行生成
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+
+# 方式二：手动计算
+# base64(ak:sk) → Authorization: Lab <token>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+
+确认后设置：
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
+```
+
+**两项全部就绪后才可发起 API 请求。**
+
+## Session State
+
+- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
+
+## 请求约定
+
+所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 录入试剂
+
+```bash
+curl -s -X POST "$BASE/api/v1/lab/reagent" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '{
+    "lab_uuid": "<lab_uuid>",
+    "cas": "<CAS号>",
+    "name": "<试剂名称>",
+    "molecular_formula": "<分子式>",
+    "smiles": "<SMILES>",
+    "stock_in_quantity": <入库数量>,
+    "unit": "<单位字符串>",
+    "supplier": "<供应商>",
+    "production_date": "<生产日期 ISO 8601>",
+    "expiry_date": "<过期日期 ISO 8601>"
+  }'
+```
+
+返回成功时包含试剂 UUID：
+```json
+{"code": 0, "data": {"uuid": "xxx", ...}}
+```
+
+---
+
+## 试剂字段说明
+
+| 字段 | 类型 | 必填 | 说明 | 示例 |
+|------|------|------|------|------|
+| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
+| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
+| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
+| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
+| `smiles` | string | 是 | SMILES 表示 | `"O"` |
+| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
+| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
+| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
+| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
+| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
+
+### unit 单位值
+
+| 值 | 单位 |
+|------|------|
+| `"mL"` | 毫升 |
+| `"L"` | 升 |
+| `"g"` | 克 |
+| `"kg"` | 千克 |
+| `"瓶"` | 瓶 |
+
+> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
+
+---
+
+## 批量录入策略
+
+### 方式一：用户提供 JSON 数组
+
+用户一次性给出多条试剂数据：
+
+```json
+[
+  {"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
+  {"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
+]
+```
+
+Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
+
+Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
+
+### 方式二：用户逐个描述
+
+用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
+
+1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
+2. 构建完整的请求体
+3. 向用户确认后提交
+
+### 方式三：从 CSV/表格批量导入
+
+用户提供 CSV 或表格文件路径，agent 读取并解析：
+
+```bash
+# 期望的 CSV 格式（首行为表头）
+cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
+7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
+```
+
+### 执行与汇报
+
+每次 API 调用后：
+1. 检查返回 `code`（0 = 成功）
+2. 记录成功/失败数量
+3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
+4. 如有失败，列出失败的试剂名称和错误信息
+
+---
+
+## 常见试剂速查表
+
+| 名称 | CAS | 分子式 | SMILES |
+|------|-----|--------|--------|
+| 水 | 7732-18-3 | H2O | O |
+| 乙醇 | 64-17-5 | C2H6O | CCO |
+| 甲醇 | 67-56-1 | CH4O | CO |
+| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
+| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
+| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
+| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
+| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
+| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
+| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
+| 乙腈 | 75-05-8 | C2H3N | CC#N |
+| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
+| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
+| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
+| 盐酸 | 7647-01-0 | HCl | Cl |
+| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
+| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
+| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
+| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
+| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
+
+> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] 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
+- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
+- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
+- [ ] Step 6: 向用户确认待录入的试剂列表
+- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
+- [ ] Step 8: 汇总结果（成功/失败数量及详情）
+```
+
+---
+
+## 完整示例
+
+用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
+
+Agent 构建的请求序列：
+
+```json
+// 第 1 条
+{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+
+// 第 2 条
+{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+
+// 第 3 条
+{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+```

.cursor/skills/batch-submit-experiment/SKILL.md

@@ -0,0 +1,301 @@
+---
+name: batch-submit-experiment
+description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds. Use when the user wants to submit experiments, create notebooks, batch run workflows, or mentions 提交实验/批量实验/notebook/实验轮次.
+---
+
+# 批量提交实验指南
+
+通过云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
+
+## 前置条件（缺一不可）
+
+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（任选一种方式）：
+
+```bash
+# 方式一：Python 一行生成
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+
+# 方式二：手动计算
+# base64(ak:sk) → Authorization: Lab <token>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-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. req_device_registry_upload.json（设备注册表）
+
+**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
+
+按优先级搜索：
+
+```
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+<workspace 根目录>/req_device_registry_upload.json
+```
+
+也可直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
+
+### 4. workflow_uuid（目标工作流）
+
+用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #2 列出可用 workflow 供选择。
+
+**四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，避免重复询问用户：
+
+- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
+- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
+- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #3 获取）
+
+## 请求约定
+
+所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+>
+> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 列出可用 workflow
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
+```
+
+返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
+
+### 3. 获取 workflow 模板详情
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
+```
+
+返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
+- 每个 action 节点的 `node_uuid`
+- 每个节点对应的设备 ID（`resource_template_name`）
+- 每个节点的动作名（`node_template_name`）
+- 每个节点的现有参数（`param`）
+
+> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
+
+### 4. 提交实验（创建 notebook）
+
+```bash
+curl -s -X POST "$BASE/api/v1/lab/notebook" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '<request_body>'
+```
+
+请求体结构：
+
+```json
+{
+    "lab_uuid": "<lab_uuid>",
+    "workflow_uuid": "<workflow_uuid>",
+    "name": "<实验名称>",
+    "node_params": [
+        {
+            "sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
+            "datas": [
+                {
+                    "node_uuid": "<workflow中的节点UUID>",
+                    "param": {},
+                    "sample_params": [
+                        {
+                            "container_uuid": "<容器UUID>",
+                            "sample_value": {
+                                "liquid_names": "<液体名称>",
+                                "volumes": 1000
+                            }
+                        }
+                    ]
+                }
+            ]
+        }
+    ]
+}
+```
+
+> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
+
+---
+
+## Notebook 请求体详解
+
+### node_params 结构
+
+`node_params` 是一个数组，**每个元素代表一轮实验**：
+
+- 要跑 2 轮 → `node_params` 有 2 个元素
+- 要跑 N 轮 → `node_params` 有 N 个元素
+
+### 每轮的字段
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
+| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
+
+### datas 中每个节点
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #3 获取） |
+| `param` | object | 动作参数（根据本地注册表 schema 填写） |
+| `sample_params` | array | 样品相关参数（液体名、体积等） |
+
+### sample_params 中每条
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `container_uuid` | string | 容器 UUID |
+| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
+
+---
+
+## 从本地注册表生成 param 模板
+
+### 自动方式 — 运行脚本
+
+```bash
+python scripts/gen_notebook_params.py \
+  --auth <token> \
+  --base <BASE_URL> \
+  --workflow-uuid <workflow_uuid> \
+  [--registry <path/to/req_device_registry_upload.json>] \
+  [--rounds <轮次数>] \
+  [--output <输出文件路径>]
+```
+
+> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
+
+脚本会：
+1. 调用 workflow detail API 获取所有 action 节点
+2. 读取本地注册表，为每个节点查找对应的 action schema
+3. 生成 `notebook_template.json`，包含：
+   - 完整 `node_params` 骨架
+   - 每个节点的 param 字段及类型说明
+   - `_schema_info` 辅助信息（不提交，仅供参考）
+
+### 手动方式
+
+如果脚本不可用或注册表不存在：
+
+1. 调用 API #3 获取 workflow 详情
+2. 找到每个 action 节点的 `node_uuid`
+3. 在本地注册表中查找对应设备的 `action_value_mappings`：
+   ```
+   resources[].id == <device_id>
+   → resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
+   ```
+4. 将 schema 中的 properties 作为 `param` 的字段模板
+5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
+
+### 注册表结构参考
+
+```json
+{
+  "resources": [
+    {
+      "id": "liquid_handler.prcxi",
+      "class": {
+        "module": "unilabos.devices.xxx:ClassName",
+        "action_value_mappings": {
+          "transfer_liquid": {
+            "type": "LiquidHandlerTransfer",
+            "schema": {
+              "properties": {
+                "goal": {
+                  "properties": {
+                    "asp_vols": {"type": "array", "items": {"type": "number"}},
+                    "sources": {"type": "array"}
+                  },
+                  "required": ["asp_vols", "sources"]
+                }
+              }
+            },
+            "goal_default": {}
+          }
+        }
+      }
+    }
+  ]
+}
+```
+
+`param` 填写时，使用 `goal.properties` 中的字段名和类型。
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] 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
+- [ ] Step 4: 确认 workflow_uuid（用户提供或从 GET #2 列表选择）
+- [ ] Step 5: GET workflow detail (#3) → 提取各节点 uuid、设备ID、动作名
+- [ ] Step 6: 定位本地注册表 req_device_registry_upload.json
+- [ ] Step 7: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
+- [ ] Step 8: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
+- [ ] Step 9: 构建完整请求体 → POST /lab/notebook 提交
+- [ ] Step 10: 检查返回结果，确认提交成功
+```
+
+---
+
+## 常见问题
+
+### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
+
+是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
+
+### Q: 多轮实验的参数完全不同吗？
+
+通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
+
+### Q: 如何获取 sample_uuids 和 container_uuid？
+
+这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。

.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py

@@ -0,0 +1,394 @@
+#!/usr/bin/env python3
+"""
+从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
+
+用法:
+  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
+
+选项:
+  --auth <token>          Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
+  --base <url>            API 基础 URL（如 https://uni-lab.test.bohrium.com）
+  --workflow-uuid <uuid>  目标 workflow 的 UUID
+  --registry <path>       本地注册表文件路径（默认自动搜索）
+  --rounds <n>            实验轮次数（默认 1）
+  --output <path>         输出模板文件路径（默认 notebook_template.json）
+  --dump-response         打印 workflow detail API 的原始响应（调试用）
+
+示例:
+  python gen_notebook_params.py \\
+    --auth YTFmZDlkNGUtxxxx \\
+    --base https://uni-lab.test.bohrium.com \\
+    --workflow-uuid abc-123-def \\
+    --rounds 2
+"""
+import copy
+import json
+import os
+import sys
+from datetime import datetime
+from urllib.request import Request, urlopen
+from urllib.error import HTTPError, URLError
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+
+def find_registry(explicit_path=None):
+    """查找本地注册表文件，逻辑同 extract_device_actions.py"""
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的注册表路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+    return None
+
+
+def load_registry(path):
+    with open(path, "r", encoding="utf-8") as f:
+        return json.load(f)
+
+
+def build_registry_index(registry_data):
+    """构建 device_id → action_value_mappings 的索引"""
+    index = {}
+    for res in registry_data.get("resources", []):
+        rid = res.get("id", "")
+        avm = res.get("class", {}).get("action_value_mappings", {})
+        if rid and avm:
+            index[rid] = avm
+    return index
+
+
+def flatten_goal_schema(action_data):
+    """从 action_value_mappings 条目中提取 goal 层的 schema"""
+    schema = action_data.get("schema", {})
+    goal_schema = schema.get("properties", {}).get("goal", {})
+    return goal_schema if goal_schema else schema
+
+
+def build_param_template(goal_schema):
+    """根据 goal schema 生成 param 模板，含类型标注"""
+    properties = goal_schema.get("properties", {})
+    required = set(goal_schema.get("required", []))
+    template = {}
+    for field_name, field_def in properties.items():
+        if field_name == "unilabos_device_id":
+            continue
+        ftype = field_def.get("type", "any")
+        default = field_def.get("default")
+        if default is not None:
+            template[field_name] = default
+        elif ftype == "string":
+            template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
+        elif ftype == "number" or ftype == "integer":
+            template[field_name] = 0
+        elif ftype == "boolean":
+            template[field_name] = False
+        elif ftype == "array":
+            template[field_name] = []
+        elif ftype == "object":
+            template[field_name] = {}
+        else:
+            template[field_name] = f"$TODO ({ftype})"
+    return template
+
+
+def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
+    """调用 workflow detail API"""
+    url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
+    req = Request(url, method="GET")
+    req.add_header("Authorization", f"Lab {auth_token}")
+    try:
+        with urlopen(req, timeout=30) as resp:
+            return json.loads(resp.read().decode("utf-8"))
+    except HTTPError as e:
+        body = e.read().decode("utf-8", errors="replace")
+        print(f"API 错误 {e.code}: {body}")
+        return None
+    except URLError as e:
+        print(f"网络错误: {e.reason}")
+        return None
+
+
+def extract_nodes_from_response(response):
+    """
+    从 workflow detail 响应中提取 action 节点列表。
+    适配多种可能的响应格式。
+
+    返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
+    """
+    data = response.get("data", response)
+
+    search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
+    nodes_raw = None
+    for key in search_keys:
+        if key in data and isinstance(data[key], list):
+            nodes_raw = data[key]
+            break
+
+    if nodes_raw is None:
+        if isinstance(data, list):
+            nodes_raw = data
+        else:
+            for v in data.values():
+                if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
+                    nodes_raw = v
+                    break
+
+    if not nodes_raw:
+        print("警告: 未能从响应中提取节点列表")
+        print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
+        return []
+
+    result = []
+    for node in nodes_raw:
+        if not isinstance(node, dict):
+            continue
+
+        node_uuid = (
+            node.get("uuid")
+            or node.get("node_uuid")
+            or node.get("id")
+            or ""
+        )
+        resource_name = (
+            node.get("resource_template_name")
+            or node.get("device_id")
+            or node.get("resource_name")
+            or node.get("device_name")
+            or ""
+        )
+        template_name = (
+            node.get("node_template_name")
+            or node.get("action_name")
+            or node.get("template_name")
+            or node.get("action")
+            or node.get("name")
+            or ""
+        )
+        existing_param = node.get("param", {}) or {}
+
+        if node_uuid:
+            result.append((node_uuid, resource_name, template_name, existing_param))
+
+    return result
+
+
+def generate_template(nodes, registry_index, rounds):
+    """生成 notebook 提交模板"""
+    node_params = []
+    schema_info = {}
+
+    datas_template = []
+    for node_uuid, resource_name, template_name, existing_param in nodes:
+        param_template = {}
+        matched = False
+
+        if resource_name and template_name and resource_name in registry_index:
+            avm = registry_index[resource_name]
+            if template_name in avm:
+                goal_schema = flatten_goal_schema(avm[template_name])
+                param_template = build_param_template(goal_schema)
+                goal_default = avm[template_name].get("goal_default", {})
+                if goal_default:
+                    for k, v in goal_default.items():
+                        if k in param_template and v is not None:
+                            param_template[k] = v
+                matched = True
+
+                schema_info[node_uuid] = {
+                    "device_id": resource_name,
+                    "action_name": template_name,
+                    "action_type": avm[template_name].get("type", ""),
+                    "schema_properties": list(goal_schema.get("properties", {}).keys()),
+                    "required": goal_schema.get("required", []),
+                }
+
+        if not matched and existing_param:
+            param_template = existing_param
+
+        if not matched and not existing_param:
+            schema_info[node_uuid] = {
+                "device_id": resource_name,
+                "action_name": template_name,
+                "warning": "未在本地注册表中找到匹配的 action schema",
+            }
+
+        datas_template.append({
+            "node_uuid": node_uuid,
+            "param": param_template,
+            "sample_params": [
+                {
+                    "container_uuid": "$TODO_CONTAINER_UUID",
+                    "sample_value": {
+                        "liquid_names": "$TODO_LIQUID_NAME",
+                        "volumes": 0,
+                    },
+                }
+            ],
+        })
+
+    for i in range(rounds):
+        node_params.append({
+            "sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
+            "datas": copy.deepcopy(datas_template),
+        })
+
+    return {
+        "lab_uuid": "$TODO_LAB_UUID",
+        "workflow_uuid": "$TODO_WORKFLOW_UUID",
+        "name": "$TODO_EXPERIMENT_NAME",
+        "node_params": node_params,
+        "_schema_info（仅参考，提交时删除）": schema_info,
+    }
+
+
+def parse_args(argv):
+    """简单的参数解析"""
+    opts = {
+        "auth": None,
+        "base": None,
+        "workflow_uuid": None,
+        "registry": None,
+        "rounds": 1,
+        "output": "notebook_template.json",
+        "dump_response": False,
+    }
+    i = 0
+    while i < len(argv):
+        arg = argv[i]
+        if arg == "--auth" and i + 1 < len(argv):
+            opts["auth"] = argv[i + 1]
+            i += 2
+        elif arg == "--base" and i + 1 < len(argv):
+            opts["base"] = argv[i + 1].rstrip("/")
+            i += 2
+        elif arg == "--workflow-uuid" and i + 1 < len(argv):
+            opts["workflow_uuid"] = argv[i + 1]
+            i += 2
+        elif arg == "--registry" and i + 1 < len(argv):
+            opts["registry"] = argv[i + 1]
+            i += 2
+        elif arg == "--rounds" and i + 1 < len(argv):
+            opts["rounds"] = int(argv[i + 1])
+            i += 2
+        elif arg == "--output" and i + 1 < len(argv):
+            opts["output"] = argv[i + 1]
+            i += 2
+        elif arg == "--dump-response":
+            opts["dump_response"] = True
+            i += 1
+        else:
+            print(f"未知参数: {arg}")
+            i += 1
+    return opts
+
+
+def main():
+    opts = parse_args(sys.argv[1:])
+
+    if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
+        print("用法:")
+        print("  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
+        print()
+        print("必需参数:")
+        print("  --auth <token>          Lab token（base64(ak:sk)）")
+        print("  --base <url>            API 基础 URL")
+        print("  --workflow-uuid <uuid>  目标 workflow UUID")
+        print()
+        print("可选参数:")
+        print("  --registry <path>       注册表文件路径（默认自动搜索）")
+        print("  --rounds <n>            实验轮次数（默认 1）")
+        print("  --output <path>         输出文件路径（默认 notebook_template.json）")
+        print("  --dump-response         打印 API 原始响应")
+        sys.exit(1)
+
+    # 1. 查找并加载本地注册表
+    registry_path = find_registry(opts["registry"])
+    registry_index = {}
+    if registry_path:
+        mtime = os.path.getmtime(registry_path)
+        gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+        print(f"注册表: {registry_path}  (生成时间: {gen_time})")
+        registry_data = load_registry(registry_path)
+        registry_index = build_registry_index(registry_data)
+        print(f"已索引 {len(registry_index)} 个设备的 action schemas")
+    else:
+        print("警告: 未找到本地注册表，将跳过 param 模板生成")
+        print("  提交时需要手动填写各节点的 param 字段")
+
+    # 2. 获取 workflow 详情
+    print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
+    response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
+    if not response:
+        print("错误: 无法获取 workflow 详情")
+        sys.exit(1)
+
+    if opts["dump_response"]:
+        print("\n=== API 原始响应 ===")
+        print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
+        print("=== 响应结束（截断至 5000 字符） ===\n")
+
+    # 3. 提取节点
+    nodes = extract_nodes_from_response(response)
+    if not nodes:
+        print("错误: 未能从 workflow 中提取任何 action 节点")
+        print("请使用 --dump-response 查看原始响应结构")
+        sys.exit(1)
+
+    print(f"\n找到 {len(nodes)} 个 action 节点:")
+    print(f"  {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
+    print("  " + "-" * 110)
+    for node_uuid, resource_name, template_name, _ in nodes:
+        matched = "✓" if (resource_name in registry_index and
+                          template_name in registry_index.get(resource_name, {})) else "✗"
+        print(f"  {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
+
+    # 4. 生成模板
+    template = generate_template(nodes, registry_index, opts["rounds"])
+    template["workflow_uuid"] = opts["workflow_uuid"]
+
+    output_path = opts["output"]
+    with open(output_path, "w", encoding="utf-8") as f:
+        json.dump(template, f, indent=2, ensure_ascii=False)
+    print(f"\n模板已写入: {output_path}")
+    print(f"  轮次数: {opts['rounds']}")
+    print(f"  节点数/轮: {len(nodes)}")
+    print()
+    print("下一步:")
+    print("  1. 打开模板文件，将 $TODO 占位符替换为实际值")
+    print("  2. 删除 _schema_info 字段（仅供参考）")
+    print("  3. 使用 POST /api/v1/lab/notebook 提交")
+
+
+if __name__ == "__main__":
+    main()

.cursor/skills/create-device-skill/SKILL.md

@@ -0,0 +1,328 @@
+---
+name: create-device-skill
+description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
+---
+
+# 创建设备 Skill 指南
+
+本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
+
+## 数据源
+
+- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
+- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
+- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
+- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
+
+## 创建流程
+
+### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
+
+开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
+
+向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
+
+#### 必备项 ①：ak / sk（认证凭据）
+
+来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
+
+获取后立即生成 AUTH token：
+
+```bash
+python ./scripts/gen_auth.py <ak> <sk>
+# 或从 config.py 提取
+python ./scripts/gen_auth.py --config <config.py>
+```
+
+认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
+
+#### 必备项 ②：--addr（目标环境）
+
+决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
+
+| `--addr` 值 | BASE URL |
+|-------------|----------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 其他自定义 URL | 直接使用该 URL |
+
+#### 必备项 ③：req_device_registry_upload.json（设备注册表）
+
+数据文件由 `unilab` 启动时自动生成，需要定位它：
+
+**推断 working_dir**（即 `unilabos_data` 所在目录）：
+
+| 条件 | working_dir 取值 |
+|------|------------------|
+| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
+| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
+| 都没传 | `<当前工作目录>/unilabos_data/` |
+
+**按优先级搜索文件**：
+
+```
+<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
+<推断的 working_dir>/req_device_registry_upload.json
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+```
+
+也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
+
+#### 必备项 ④：目标设备
+
+用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
+
+如果用户不确定，运行提取脚本列出所有设备供选择：
+
+```bash
+python ./scripts/extract_device_actions.py --registry <找到的文件路径>
+```
+
+#### 完整示例
+
+用户提供：
+
+```
+--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
+--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
+--addr test
+--port 8003
+--disable_browser
+```
+
+从中提取：
+- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
+- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
+- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
+- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
+
+**四项全部就绪后才进入 Step 1。**
+
+### Step 1 — 列出可用设备
+
+运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
+
+```bash
+# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
+python ./scripts/extract_device_actions.py
+
+# 指定注册表文件路径
+python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+```
+
+脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
+
+### Step 2 — 提取 Action Schema
+
+用户选择设备后，运行提取脚本：
+
+```bash
+python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
+```
+
+脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
+
+每个 action 生成一个 JSON 文件，包含：
+- `type` — 作为 API 调用的 `action_type`
+- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
+- `goal` — goal 字段映射（含占位符 `$placeholder`）
+- `goal_default` — 默认值
+
+### Step 3 — 写 action-index.md
+
+按模板为每个 action 写条目：
+
+```markdown
+### `<action_name>`
+
+<用途描述（一句话）>
+
+- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
+- **核心参数**: `param1`, `param2`（从 schema.required 获取）
+- **可选参数**: `param3`, `param4`
+- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
+```
+
+描述规则：
+- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
+- 从 `schema.required` 区分核心/可选参数
+- 按功能分类（移液、枪头、外设等）
+- 标注 `placeholder_keys` 中的字段类型：
+  - `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
+  - `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
+  - `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
+  - `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
+- array 类型字段 → `[{id, name, uuid}, ...]`
+- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
+
+### Step 4 — 写 SKILL.md
+
+直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
+- 设备名称
+- Action 数量
+- 目录列表
+- Session state 中的 `device_name`
+- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
+- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
+- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
+
+API 模板结构：
+
+```markdown
+## 设备信息
+- device_id, Python 源码路径, 设备类名
+
+## 前置条件（缺一不可）
+- ak/sk → AUTH, --addr → BASE URL
+
+## Session State
+- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
+
+## API Endpoints (10 个)
+# 注意：
+# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
+#   调用 /lab/info/{uuid} 比对 access_key == ak）
+# - #2 创建工作流用 POST /lab/workflow
+# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
+
+## Placeholder Slot 填写规则
+- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
+- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
+- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
+- unilabos_class → ClassSlot → "class_name" 字符串
+- 特例：create_resource 的 res_id 允许填不存在的路径
+- 列出本设备所有 Slot 字段、类型及含义
+
+## 渐进加载策略
+## 完整工作流 Checklist
+```
+
+### Step 5 — 验证
+
+检查文件完整性：
+- [ ] `SKILL.md` 包含 10 个 API endpoint
+- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
+- [ ] `action-index.md` 列出所有 action 并有描述
+- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
+- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
+- [ ] 描述能让 agent 判断该用哪个 action
+
+## Action JSON 文件结构
+
+```json
+{
+  "type": "LiquidHandlerTransfer",    // → API 的 action_type
+  "goal": {                           // goal 字段映射
+    "sources": "sources",
+    "targets": "targets",
+    "tip_racks": "tip_racks",
+    "asp_vols": "asp_vols"
+  },
+  "schema": {                         // ← 直接是 goal 的 schema（已提升）
+    "type": "object",
+    "properties": {                   // 参数定义（即请求中 goal 的字段）
+      "sources": { "type": "array", "items": { "type": "object" } },
+      "targets": { "type": "array", "items": { "type": "object" } },
+      "asp_vols": { "type": "array", "items": { "type": "number" } }
+    },
+    "required": [...],
+    "_unilabos_placeholder_info": {   // ← Slot 类型标记
+      "sources": "unilabos_resources",
+      "targets": "unilabos_resources",
+      "tip_racks": "unilabos_resources"
+    }
+  },
+  "goal_default": { ... },            // 默认值
+  "placeholder_keys": {               // ← 汇总所有 Slot 字段
+    "sources": "unilabos_resources",  //    ResourceSlot
+    "targets": "unilabos_resources",
+    "tip_racks": "unilabos_resources",
+    "target_device_id": "unilabos_devices"  // DeviceSlot
+  }
+}
+```
+
+> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
+> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
+
+## Placeholder Slot 类型体系
+
+`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
+
+| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
+|---------------|-----------|---------|---------|
+| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
+| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
+| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
+| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
+
+### ResourceSlot（`unilabos_resources`）
+
+最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
+
+```json
+{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
+```
+
+- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
+- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
+- `id` 本身是从 parent 计算的路径格式
+- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
+
+> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
+
+### DeviceSlot（`unilabos_devices`）
+
+填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
+
+```
+"/host_node"
+"/bioyond_cell/reaction_station"
+```
+
+- 只填路径字符串，不需要 `{id, uuid}` 对象
+- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
+
+### NodeSlot（`unilabos_nodes`）
+
+范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
+
+```
+"/PRCXI/PRCXI_Deck"
+```
+
+- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
+
+### ClassSlot（`unilabos_class`）
+
+填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
+
+```
+"container"
+```
+
+### 通过 API #10 获取资源树
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
+```
+
+注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
+
+## 最终目录结构
+
+```
+./<skill-name>/
+├── SKILL.md              # API 端点 + 渐进加载指引
+├── action-index.md       # 动作索引：描述/用途/核心参数
+└── actions/              # 每个 action 的完整 JSON Schema
+    ├── action1.json
+    ├── action2.json
+    └── ...
+```

.cursor/skills/create-device-skill/scripts/extract_device_actions.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+"""
+从 req_device_registry_upload.json 中提取指定设备的 action schema。
+
+用法:
+  # 列出所有设备及 action 数量（自动搜索注册表文件）
+  python extract_device_actions.py
+
+  # 指定注册表文件路径
+  python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+
+  # 提取指定设备的 action 到目录
+  python extract_device_actions.py <device_id> <output_dir>
+  python extract_device_actions.py --registry <path> <device_id> <output_dir>
+
+示例:
+  python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
+  python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
+"""
+import json
+import os
+import sys
+from datetime import datetime
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+def find_registry(explicit_path=None):
+    """
+    查找 req_device_registry_upload.json 文件。
+
+    搜索优先级：
+    1. 用户通过 --registry 显式指定的路径
+    2. <cwd>/unilabos_data/req_device_registry_upload.json
+    3. <cwd>/req_device_registry_upload.json
+    4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
+    5. 向上逐级搜索父目录（最多 5 层）
+    """
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+
+    return None
+
+def load_registry(path):
+    with open(path, 'r', encoding='utf-8') as f:
+        return json.load(f)
+
+def list_devices(data):
+    """列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
+    resources = data.get('resources', [])
+    devices = []
+    for res in resources:
+        rid = res.get('id', '')
+        cls = res.get('class', {})
+        avm = cls.get('action_value_mappings', {})
+        module = cls.get('module', '')
+        if avm:
+            devices.append((rid, len(avm), module))
+    return devices
+
+def flatten_schema_to_goal(action_data):
+    """将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
+    schema = action_data.get('schema', {})
+    goal_schema = schema.get('properties', {}).get('goal', {})
+    if goal_schema:
+        action_data = dict(action_data)
+        action_data['schema'] = goal_schema
+    return action_data
+
+
+def extract_actions(data, device_id, output_dir):
+    """提取指定设备的 action schema 到独立 JSON 文件"""
+    resources = data.get('resources', [])
+    for res in resources:
+        if res.get('id') == device_id:
+            cls = res.get('class', {})
+            module = cls.get('module', '')
+            avm = cls.get('action_value_mappings', {})
+            if not avm:
+                print(f"设备 {device_id} 没有 action_value_mappings")
+                return []
+
+            if module:
+                py_path = module.split(":")[0].replace(".", "/") + ".py"
+                class_name = module.split(":")[-1] if ":" in module else ""
+                print(f"Python 源码: {py_path}")
+                if class_name:
+                    print(f"设备类: {class_name}")
+
+            os.makedirs(output_dir, exist_ok=True)
+            written = []
+            for action_name in sorted(avm.keys()):
+                action_data = flatten_schema_to_goal(avm[action_name])
+                filename = action_name.replace('-', '_') + '.json'
+                filepath = os.path.join(output_dir, filename)
+                with open(filepath, 'w', encoding='utf-8') as f:
+                    json.dump(action_data, f, indent=2, ensure_ascii=False)
+                written.append(filename)
+                print(f"  {filepath}")
+            return written
+
+    print(f"设备 {device_id} 未找到")
+    return []
+
+def main():
+    args = sys.argv[1:]
+    explicit_registry = None
+
+    if "--registry" in args:
+        idx = args.index("--registry")
+        if idx + 1 < len(args):
+            explicit_registry = args[idx + 1]
+            args = args[:idx] + args[idx + 2:]
+        else:
+            print("错误: --registry 需要指定路径")
+            sys.exit(1)
+
+    registry_path = find_registry(explicit_registry)
+    if not registry_path:
+        print(f"错误: 找不到 {REGISTRY_FILENAME}")
+        print()
+        print("解决方法:")
+        print("  1. 先运行 unilab 启动命令，等待注册表生成")
+        print("  2. 用 --registry 指定文件路径:")
+        print(f"     python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
+        print()
+        print("搜索过的路径:")
+        for p in [
+            os.path.join("unilabos_data", REGISTRY_FILENAME),
+            REGISTRY_FILENAME,
+            os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
+        ]:
+            print(f"  - {p}")
+        sys.exit(1)
+
+    print(f"注册表: {registry_path}")
+    mtime = os.path.getmtime(registry_path)
+    gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+    size_mb = os.path.getsize(registry_path) / (1024 * 1024)
+    print(f"生成时间: {gen_time}  (文件大小: {size_mb:.1f} MB)")
+    data = load_registry(registry_path)
+
+    if len(args) == 0:
+        devices = list_devices(data)
+        print(f"\n找到 {len(devices)} 个设备:")
+        print(f"{'设备 ID':<50} {'Actions':>7}  {'Python 模块'}")
+        print("-" * 120)
+        for did, count, module in sorted(devices, key=lambda x: x[0]):
+            py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
+            print(f"{did:<50} {count:>7}  {py_path}")
+
+    elif len(args) == 2:
+        device_id = args[0]
+        output_dir = args[1]
+        print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
+        written = extract_actions(data, device_id, output_dir)
+        if written:
+            print(f"\n共写入 {len(written)} 个 action 文件")
+
+    else:
+        print("用法:")
+        print("  python extract_device_actions.py [--registry <path>]                # 列出设备")
+        print("  python extract_device_actions.py [--registry <path>] <device_id> <dir>  # 提取 actions")
+        sys.exit(1)
+
+if __name__ == '__main__':
+    main()

.cursor/skills/create-device-skill/scripts/gen_auth.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+"""
+从 ak/sk 生成 UniLab API Authorization header。
+
+算法: base64(ak:sk) → "Authorization: Lab <token>"
+
+用法:
+  python gen_auth.py <ak> <sk>
+  python gen_auth.py --config <config.py>
+
+示例:
+  python gen_auth.py myak mysk
+  python gen_auth.py --config experiments/config.py
+"""
+import base64
+import re
+import sys
+
+
+def gen_auth(ak: str, sk: str) -> str:
+    token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
+    return token
+
+
+def extract_from_config(config_path: str) -> tuple:
+    """从 config.py 中提取 ak 和 sk"""
+    with open(config_path, "r", encoding="utf-8") as f:
+        content = f.read()
+    ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
+    sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
+    if not ak_match or not sk_match:
+        return None, None
+    return ak_match.group(1), sk_match.group(1)
+
+
+def main():
+    args = sys.argv[1:]
+
+    if len(args) == 2 and args[0] == "--config":
+        ak, sk = extract_from_config(args[1])
+        if not ak or not sk:
+            print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
+            print("期望格式: ak = \"xxx\"  sk = \"xxx\"")
+            sys.exit(1)
+        print(f"配置文件: {args[1]}")
+    elif len(args) == 2:
+        ak, sk = args
+    else:
+        print("用法:")
+        print("  python gen_auth.py <ak> <sk>")
+        print("  python gen_auth.py --config <config.py>")
+        sys.exit(1)
+
+    token = gen_auth(ak, sk)
+    print(f"ak: {ak}")
+    print(f"sk: {sk}")
+    print()
+    print(f"Authorization header:")
+    print(f"  Authorization: Lab {token}")
+    print()
+    print(f"curl 用法:")
+    print(f'  curl -H "Authorization: Lab {token}" ...')
+    print()
+    print(f"Shell 变量:")
+    print(f'  AUTH="Authorization: Lab {token}"')
+
+
+if __name__ == "__main__":
+    main()

.github/workflows/ci-check.yml

@@ -49,7 +49,7 @@ jobs:
           uv pip uninstall enum34 || echo enum34 not installed, skipping
           uv pip install .
 
-      - name: Run check mode (complete_registry)
+      - name: Run check mode (AST registry validation)
         run: |
           call conda activate check-env
           echo Running check mode...

.gitignore

@@ -5,6 +5,7 @@ output/
 unilabos_data/
 pyrightconfig.json
 .cursorignore
+device_package*/
 ## Python
 
 # Byte-compiled / optimized / DLL files

AGENTS.md

@@ -0,0 +1,87 @@
+# AGENTS.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+Also follow the monorepo-level rules in `../AGENTS.md`.
+
+## Build & Development
+
+```bash
+# Install in editable mode (requires mamba env with python 3.11)
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# Run with a device graph
+unilab --graph <graph.json> --config <config.py> --backend ros
+unilab --graph <graph.json> --config <config.py> --backend simple  # no ROS2 needed
+
+# Common CLI flags
+unilab --app_bridges websocket fastapi    # communication bridges
+unilab --test_mode                        # simulate hardware, no real execution
+unilab --check_mode                       # CI validation of registry imports
+unilab --skip_env_check                   # skip auto-install of dependencies
+unilab --visual rviz|web|disable          # visualization mode
+unilab --is_slave                         # run as slave node
+
+# Workflow upload subcommand
+unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
+
+# Tests
+pytest tests/                              # all tests
+pytest tests/resources/test_resourcetreeset.py  # single test file
+pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method  # single test
+```
+
+## Architecture
+
+### Startup Flow
+
+`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
+
+### Core Layers
+
+**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
+
+**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
+
+**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
+
+**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
+
+**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
+
+**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
+
+**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
+
+### Configuration System
+
+- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
+- Config files are `.py` files with matching class names (see `config/example_config.py`)
+- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
+- Device topology defined in graph files (JSON with node-link format, or GraphML)
+
+### Key Data Flow
+
+1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
+2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
+3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
+4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
+
+### Test Data
+
+Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
+
+## Code Conventions
+
+- Code comments and log messages in simplified Chinese
+- Python 3.11+, type hints expected
+- Pydantic models for data validation (`resource_tracker.py`)
+- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
+- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
+- CLI argument dashes auto-converted to underscores for consistency
+
+## Licensing
+
+- Framework code: GPL-3.0
+- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute

CLAUDE.md

@@ -0,0 +1,4 @@
+
+Please follow the rules defined in:
+
+@AGENTS.md

docs/developer_guide/add_device.md

@@ -15,6 +15,9 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
 **示例：**
 
 ```python
+from unilabos.registry.decorators import device, topic_config
+
+@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
 class MockGripper:
     def __init__(self):
         self._position: float = 0.0
@@ -23,19 +26,23 @@ class MockGripper:
         self._status = "Idle"
 
     @property
+    @topic_config()  # 添加 @topic_config 才会定时广播
     def position(self) -> float:
         return self._position
 
     @property
+    @topic_config()
     def velocity(self) -> float:
         return self._velocity
 
     @property
+    @topic_config()
     def torque(self) -> float:
         return self._torque
 
-    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
+    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
     @property
+    @topic_config(period=2.0)  # 可自定义发布周期
     def status(self) -> str:
         return self._status
 
@@ -149,7 +156,7 @@ my_device: # 设备唯一标识符
 
 系统会自动分析您的 Python 驱动类并生成：
 
-- `status_types`：从 `@property` 装饰的方法自动识别状态属性
+- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
 - `action_value_mappings`：从类方法自动生成动作映射
 - `init_param_schema`：从 `__init__` 方法分析初始化参数
 - `schema`：前端显示用的属性类型定义
@@ -179,7 +186,9 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
 
 ```python
 from typing import Dict, Any
+from unilabos.registry.decorators import device, topic_config
 
+@device(id="my_device", category=["general"], description="My Device")
 class MyDevice:
     """设备类文档字符串
 
@@ -198,8 +207,9 @@ class MyDevice:
         # 初始化硬件连接
 
     @property
+    @topic_config()  # 必须添加 @topic_config 才会广播
     def status(self) -> str:
-        """设备状态（会自动广播）"""
+        """设备状态（通过 @topic_config 广播）"""
         return self._status
 
     def my_action(self, param: float) -> Dict[str, Any]:
@@ -217,34 +227,61 @@ class MyDevice:
 
 ## 状态属性 vs 动作方法
 
-### 状态属性（@property）
+### 状态属性（@property + @topic_config）
 
-状态属性会被自动识别并定期广播：
+状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
 
 ```python
+from unilabos.registry.decorators import topic_config
+
 @property
+@topic_config()  # 必须添加，否则不会广播
 def temperature(self) -> float:
     """当前温度"""
     return self._read_temperature()
 
 @property
+@topic_config(period=2.0)  # 可自定义发布周期（秒）
 def status(self) -> str:
     """设备状态: idle, running, error"""
     return self._status
 
 @property
+@topic_config(name="ready")  # 可自定义发布名称
 def is_ready(self) -> bool:
     """设备是否就绪"""
     return self._status == "idle"
 ```
 
+也可以使用普通方法（非 @property）配合 `@topic_config`：
+
+```python
+@topic_config(period=10.0)
+def get_sensor_data(self) -> Dict[str, float]:
+    """获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
+    return {"temp": self._temp, "humidity": self._humidity}
+```
+
+**`@topic_config` 参数**:
+
+| 参数 | 类型 | 默认值 | 说明 |
+|------|------|--------|------|
+| `period` | float | 5.0 | 发布周期（秒） |
+| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
+| `qos` | int | 10 | QoS 深度 |
+| `name` | str | None | 自定义发布名称 |
+
+**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
+
 **特点**:
 
-- 使用`@property`装饰器
-- 只读，不能有参数
-- 自动添加到注册表的`status_types`
+- 必须使用 `@topic_config` 装饰器
+- 支持 `@property` 和普通方法
+- 添加到注册表的 `status_types`
 - 定期发布到 ROS2 topic
 
+> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
+
 ### 动作方法
 
 动作方法是设备可以执行的操作：
@@ -497,6 +534,7 @@ class LiquidHandler:
         self._status = "idle"
 
     @property
+    @topic_config()
     def status(self) -> str:
         return self._status
 
@@ -886,7 +924,52 @@ class MyDevice:
 
 ## 最佳实践
 
-### 1. 类型注解
+### 1. 使用 `@device` 装饰器标识设备类
+
+```python
+from unilabos.registry.decorators import device
+
+@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
+class MyDevice:
+    ...
+```
+
+- `id`：设备唯一标识符，用于注册表匹配
+- `category`：分类列表，前端用于分组显示
+- `description`：设备描述
+- `icon`：图标文件名（可选）
+
+### 2. 使用 `@topic_config` 声明需要广播的状态
+
+```python
+from unilabos.registry.decorators import topic_config
+
+# ✓ @property + @topic_config → 会广播
+@property
+@topic_config(period=2.0)
+def temperature(self) -> float:
+    return self._temp
+
+# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
+@topic_config(period=10.0)
+def get_sensor_data(self) -> Dict[str, float]:
+    return {"temp": self._temp}
+
+# ✓ 使用 name 参数自定义发布名称
+@property
+@topic_config(name="ready")
+def is_ready(self) -> bool:
+    return self._status == "idle"
+
+# ✗ 仅有 @property，没有 @topic_config → 不会广播
+@property
+def internal_state(self) -> str:
+    return self._state
+```
+
+> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
+
+### 3. 类型注解
 
 ```python
 from typing import Dict, Any, Optional, List
@@ -901,7 +984,7 @@ def method(
     pass
 ```
 
-### 2. 文档字符串
+### 4. 文档字符串
 
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]:
     pass
 ```
 
-### 3. 配置验证
+### 5. 配置验证
 
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]):
     self.baudrate = config['baudrate']
 ```
 
-### 4. 资源清理
+### 6. 资源清理
 
 ```python
 def __del__(self):
@@ -946,7 +1029,7 @@ def __del__(self):
         self.connection.close()
 ```
 
-### 5. 设计前端友好的返回值
+### 7. 设计前端友好的返回值
 
 **记住：返回值会直接显示在 Web 界面**
 

docs/developer_guide/add_registry.md

@@ -422,18 +422,20 @@ placeholder_keys:
 
 ### status_types
 
-系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
+系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
 
 ```yaml
 status_types:
-  current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
-  is_heating: bool # 从 get_is_heating() 或 @property is_heating
-  status: str # 从 get_status() 或 @property status
+  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
+  is_heating: bool
+  status: str
 ```
 
 **注意事项**：
 
-- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
+- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
+- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
+- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
 
@@ -537,11 +539,13 @@ class AdvancedLiquidHandler:
         self._temperature = 25.0
 
     @property
+    @topic_config()
     def status(self) -> str:
         """设备状态"""
         return self._status
 
     @property
+    @topic_config()
     def temperature(self) -> float:
         """当前温度"""
         return self._temperature
@@ -809,21 +813,23 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 
 ```python
-from unilabos.common.device_base import DeviceBase
+from unilabos.registry.decorators import device, topic_config
 
-class MyDevice(DeviceBase):
+@device(id="my_device", category=["temperature"], description="My Device")
+class MyDevice:
     def __init__(self, config):
         """初始化，参数会自动分析到 init_param_schema.config"""
-        super().__init__(config)
         self.port = config.get('port', '/dev/ttyUSB0')
 
-    # 状态方法（会自动生成到 status_types）
+    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
     @property
+    @topic_config()
     def status(self):
         """返回设备状态"""
         return "idle"
 
     @property
+    @topic_config()
     def temperature(self):
         """返回当前温度"""
         return 25.0
@@ -1039,7 +1045,34 @@ resource.type      # "resource"
 
 ### 代码规范
 
-1. **始终使用类型注解**
+1. **使用 `@device` 装饰器标识设备类**
+
+```python
+from unilabos.registry.decorators import device
+
+@device(id="my_device", category=["heating"], description="My Device")
+class MyDevice:
+    ...
+```
+
+2. **使用 `@topic_config` 声明广播属性**
+
+```python
+from unilabos.registry.decorators import topic_config
+
+# ✓ 需要广播的状态属性
+@property
+@topic_config(period=2.0)
+def temperature(self) -> float:
+    return self._temp
+
+# ✗ 仅有 @property 不会广播
+@property
+def internal_counter(self) -> int:
+    return self._counter
+```
+
+3. **始终使用类型注解**
 
 ```python
 # ✓ 好
@@ -1051,7 +1084,7 @@ def method(self, resource, device):
     pass
 ```
 
-2. **提供有意义的参数名**
+4. **提供有意义的参数名**
 
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-3. **使用 Optional 表示可选参数**
+5. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1076,7 +1109,7 @@ def method(
     pass
 ```
 
-4. **添加详细的文档字符串**
+6. **添加详细的文档字符串**
 
 ```python
 def method(
@@ -1096,13 +1129,13 @@ def method(
     pass
 ```
 
-5. **方法命名规范**
+7. **方法命名规范**
 
-   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
+   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
    - 动作方法使用动词开头
    - 保持命名清晰、一致
 
-6. **完善的错误处理**
+8. **完善的错误处理**
    - 实现完善的错误处理
    - 添加日志记录
    - 提供有意义的错误信息

docs/developer_guide/networking_overview.md

@@ -221,10 +221,10 @@ Laboratory A    Laboratory B
 
 ```bash
 # 实验室A
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 ```
 
 ---

docs/user_guide/launch.md

@@ -22,7 +22,6 @@ options:
   --is_slave            Run the backend as slave node (without host privileges).
   --slave_no_host       Skip waiting for host service in slave mode
   --upload_registry     Upload registry information when starting unilab
-  --use_remote_resource Use remote resources when starting unilab
   --config CONFIG       Configuration file path, supports .py format Python config files
   --port PORT           Port for web service information page
   --disable_browser     Disable opening information page on startup
@@ -85,7 +84,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
 支持两种方式：
 
 - **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
-- **远程资源**：使用 `--use_remote_resource` 从云端获取
+- **远程资源**：不指定本地文件即可
 
 ### 7. 注册表构建
 
@@ -196,7 +195,7 @@ unilab --config path/to/your/config.py
 unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 
 # 使用远程资源启动
-unilab --ak your_ak --sk your_sk --use_remote_resource
+unilab --ak your_ak --sk your_sk
 
 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.17
+  version: 0.10.19
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.17"
+  version: "0.10.19"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.17',
+    version='0.10.19',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/compile/test_batch_transfer_protocol.py

@@ -0,0 +1,296 @@
+"""
+批量转运编译器测试
+
+覆盖：单物料退化、刚好一批、多批次、空操作、AGV 配置发现、children dict 状态。
+"""
+
+import pytest
+import networkx as nx
+
+from unilabos.compile.batch_transfer_protocol import generate_batch_transfer_protocol
+from unilabos.compile.agv_transfer_protocol import generate_agv_transfer_protocol
+from unilabos.compile._agv_utils import find_agv_config, get_agv_capacity, split_batches
+
+
+# ============ 构建测试用设备图 ============
+
+def _make_graph(capacity_x=2, capacity_y=1, capacity_z=1):
+    """构建包含 AGV 节点的测试设备图"""
+    G = nx.DiGraph()
+
+    # AGV 节点
+    G.add_node("AGV", **{
+        "type": "device",
+        "class_": "agv_transport_station",
+        "config": {
+            "protocol_type": ["AGVTransferProtocol", "BatchTransferProtocol"],
+            "device_roles": {
+                "navigator": "zhixing_agv",
+                "arm": "zhixing_ur_arm"
+            },
+            "route_table": {
+                "StationA->StationB": {
+                    "nav_command": '{"target": "LM1"}',
+                    "arm_pick": '{"task_name": "pick.urp"}',
+                    "arm_place": '{"task_name": "place.urp"}'
+                },
+                "AGV->StationA": {
+                    "nav_command": '{"target": "LM1"}',
+                    "arm_pick": '{"task_name": "pick.urp"}',
+                    "arm_place": '{"task_name": "place.urp"}'
+                },
+                "StationA->StationA": {
+                    "nav_command": '{"target": "LM1"}',
+                    "arm_pick": '{"task_name": "pick.urp"}',
+                    "arm_place": '{"task_name": "place.urp"}'
+                },
+            }
+        }
+    })
+
+    # AGV 子设备
+    G.add_node("zhixing_agv", type="device", class_="zhixing_agv")
+    G.add_node("zhixing_ur_arm", type="device", class_="zhixing_ur_arm")
+    G.add_edge("AGV", "zhixing_agv")
+    G.add_edge("AGV", "zhixing_ur_arm")
+
+    # AGV Warehouse 子资源
+    G.add_node("agv_platform", **{
+        "type": "warehouse",
+        "config": {
+            "name": "agv_platform",
+            "num_items_x": capacity_x,
+            "num_items_y": capacity_y,
+            "num_items_z": capacity_z,
+        }
+    })
+    G.add_edge("AGV", "agv_platform")
+
+    # 来源/目标工站
+    G.add_node("StationA", type="device", class_="workstation")
+    G.add_node("StationB", type="device", class_="workstation")
+
+    return G
+
+
+def _make_repos(items_count=2):
+    """构建测试用的 from_repo 和 to_repo dict"""
+    children = {}
+    for i in range(items_count):
+        pos = f"A{i + 1:02d}"
+        children[pos] = {
+            "id": f"resource_{i + 1}",
+            "name": f"R{i + 1}",
+            "parent": "StationA",
+            "type": "resource",
+        }
+
+    from_repo = {
+        "StationA": {
+            "id": "StationA",
+            "name": "StationA",
+            "children": children,
+        }
+    }
+    to_repo = {
+        "StationB": {
+            "id": "StationB",
+            "name": "StationB",
+            "children": {},
+        }
+    }
+    return from_repo, to_repo
+
+
+def _make_items(count=2):
+    """构建 transfer_resources / from_positions / to_positions"""
+    resources = [
+        {
+            "id": f"resource_{i + 1}",
+            "name": f"R{i + 1}",
+            "sample_id": f"uuid-{i + 1}",
+            "parent": "StationA",
+            "type": "resource",
+        }
+        for i in range(count)
+    ]
+    from_positions = [f"A{i + 1:02d}" for i in range(count)]
+    to_positions = [f"A{i + 1:02d}" for i in range(count)]
+    return resources, from_positions, to_positions
+
+
+# ============ _agv_utils 测试 ============
+
+class TestAGVUtils:
+    def test_find_agv_config(self):
+        G = _make_graph()
+        cfg = find_agv_config(G)
+        assert cfg["agv_id"] == "AGV"
+        assert cfg["device_roles"]["navigator"] == "zhixing_agv"
+        assert cfg["device_roles"]["arm"] == "zhixing_ur_arm"
+        assert "StationA->StationB" in cfg["route_table"]
+
+    def test_find_agv_config_by_id(self):
+        G = _make_graph()
+        cfg = find_agv_config(G, agv_id="AGV")
+        assert cfg["agv_id"] == "AGV"
+
+    def test_find_agv_config_not_found(self):
+        G = nx.DiGraph()
+        G.add_node("SomeDevice", type="device", class_="pump")
+        with pytest.raises(ValueError, match="未找到 AGV"):
+            find_agv_config(G)
+
+    def test_get_agv_capacity(self):
+        G = _make_graph(capacity_x=2, capacity_y=1, capacity_z=1)
+        assert get_agv_capacity(G, "AGV") == 2
+
+    def test_get_agv_capacity_multi_layer(self):
+        G = _make_graph(capacity_x=1, capacity_y=2, capacity_z=3)
+        assert get_agv_capacity(G, "AGV") == 6
+
+    def test_split_batches_exact(self):
+        assert split_batches([1, 2], 2) == [[1, 2]]
+
+    def test_split_batches_overflow(self):
+        assert split_batches([1, 2, 3], 2) == [[1, 2], [3]]
+
+    def test_split_batches_single(self):
+        assert split_batches([1], 4) == [[1]]
+
+    def test_split_batches_zero_capacity(self):
+        with pytest.raises(ValueError):
+            split_batches([1], 0)
+
+
+# ============ 批量转运编译器测试 ============
+
+class TestBatchTransferProtocol:
+    def test_empty_items(self):
+        """空物料列表返回空 steps"""
+        G = _make_graph()
+        from_repo, to_repo = _make_repos(0)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, [], [], [])
+        assert steps == []
+
+    def test_single_item(self):
+        """单物料转运（BatchTransfer 退化为单物料）"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(1)
+        resources, from_pos, to_pos = _make_items(1)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # 应该有: nav到来源 + 1个pick + nav到目标 + 1个place = 4 steps
+        assert len(steps) == 4
+        assert steps[0]["action_name"] == "send_nav_task"
+        assert steps[1]["action_name"] == "move_pos_task"
+        assert steps[1]["_transfer_meta"]["phase"] == "pick"
+        assert steps[2]["action_name"] == "send_nav_task"
+        assert steps[3]["action_name"] == "move_pos_task"
+        assert steps[3]["_transfer_meta"]["phase"] == "place"
+
+    def test_exact_capacity(self):
+        """物料数 = AGV 容量，刚好一批"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(2)
+        resources, from_pos, to_pos = _make_items(2)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # nav + 2 pick + nav + 2 place = 6 steps
+        assert len(steps) == 6
+        pick_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "pick"]
+        place_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "place"]
+        assert len(pick_steps) == 2
+        assert len(place_steps) == 2
+
+    def test_multi_batch(self):
+        """物料数 > AGV 容量，自动分批"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(3)
+        resources, from_pos, to_pos = _make_items(3)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # 批次1: nav + 2 pick + nav + 2 place + nav(返回) = 7
+        # 批次2: nav + 1 pick + nav + 1 place = 4
+        # 总计 11 steps
+        assert len(steps) == 11
+
+        nav_steps = [s for s in steps if s["action_name"] == "send_nav_task"]
+        # 批次1: 2 nav(去来源+去目标) + 1 nav(返回) + 批次2: 2 nav = 5 nav
+        assert len(nav_steps) == 5
+
+    def test_children_dict_updated(self):
+        """compile 阶段三方 children dict 状态正确"""
+        G = _make_graph(capacity_x=2)
+        from_repo, to_repo = _make_repos(2)
+        resources, from_pos, to_pos = _make_items(2)
+
+        assert "A01" in from_repo["StationA"]["children"]
+        assert "A02" in from_repo["StationA"]["children"]
+        assert len(to_repo["StationB"]["children"]) == 0
+
+        generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        # compile 后 from_repo 的 children 应该被 pop 掉
+        assert "A01" not in from_repo["StationA"]["children"]
+        assert "A02" not in from_repo["StationA"]["children"]
+        # to_repo 应该有新物料
+        assert "A01" in to_repo["StationB"]["children"]
+        assert "A02" in to_repo["StationB"]["children"]
+        assert to_repo["StationB"]["children"]["A01"]["id"] == "resource_1"
+
+    def test_device_ids_from_config(self):
+        """设备 ID 全部从配置读取，不硬编码"""
+        G = _make_graph()
+        from_repo, to_repo = _make_repos(1)
+        resources, from_pos, to_pos = _make_items(1)
+        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
+
+        device_ids = {s["device_id"] for s in steps}
+        assert "zhixing_agv" in device_ids
+        assert "zhixing_ur_arm" in device_ids
+
+    def test_route_not_found(self):
+        """路由表中无对应路线时报错"""
+        G = _make_graph()
+        from_repo = {"Unknown": {"id": "Unknown", "children": {"A01": {"id": "R1", "parent": "Unknown"}}}}
+        to_repo = {"Other": {"id": "Other", "children": {}}}
+        resources = [{"id": "R1", "name": "R1"}]
+        with pytest.raises(KeyError, match="路由表"):
+            generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01"], ["B01"])
+
+    def test_length_mismatch(self):
+        """三个数组长度不一致时报错"""
+        G = _make_graph()
+        from_repo, to_repo = _make_repos(2)
+        resources = [{"id": "R1"}]
+        with pytest.raises(ValueError, match="长度不一致"):
+            generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01", "A02"], ["B01"])
+
+
+# ============ 改造后的 AGV 单物料编译器测试 ============
+
+class TestAGVTransferProtocol:
+    def test_single_transfer_from_config(self):
+        """改造后的单物料编译器从 G 读取配置"""
+        G = _make_graph()
+        from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
+        to_repo = {"StationB": {"id": "StationB", "children": {}}}
+        steps = generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
+
+        assert len(steps) == 2
+        assert steps[0]["device_id"] == "zhixing_agv"
+        assert steps[0]["action_name"] == "send_nav_task"
+        assert steps[1]["device_id"] == "zhixing_ur_arm"
+        assert steps[1]["action_name"] == "move_pos_task"
+
+    def test_children_updated(self):
+        """单物料编译后 children dict 正确更新"""
+        G = _make_graph()
+        from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
+        to_repo = {"StationB": {"id": "StationB", "children": {}}}
+        generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
+
+        assert "A01" not in from_repo["StationA"]["children"]
+        assert "B01" in to_repo["StationB"]["children"]
+        assert to_repo["StationB"]["children"]["B01"]["parent"] == "StationB"

tests/compile/test_full_chain_conversion_to_compile.py

@@ -0,0 +1,706 @@
+"""
+全链路集成测试：ROS Goal 转换 → ResourceTreeSet → get_plr_nested_dict → 编译器 → 动作列表
+
+模拟 workstation.py 中的完整路径：
+1. host 返回 raw_data（模拟 resource_get 响应）
+2. ResourceTreeSet.from_raw_dict_list(raw_data) 构建资源树
+3. tree.root_node.get_plr_nested_dict() 生成嵌套 dict
+4. protocol_kwargs 传给编译器
+5. 编译器返回 action_list，验证结构和关键字段
+"""
+
+import copy
+import json
+import pytest
+import networkx as nx
+
+from unilabos.resources.resource_tracker import (
+    ResourceDictInstance,
+    ResourceTreeSet,
+)
+from unilabos.compile.utils.resource_helper import (
+    ensure_resource_instance,
+    resource_to_dict,
+    get_resource_id,
+    get_resource_data,
+)
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+# ============ 构建模拟设备图 ============
+
+def _build_test_graph():
+    """构建一个包含常用设备节点的测试图"""
+    G = nx.DiGraph()
+
+    # 容器
+    G.add_node("reactor_01", **{
+        "id": "reactor_01",
+        "name": "reactor_01",
+        "type": "device",
+        "class": "virtual_stirrer",
+        "data": {},
+        "config": {},
+    })
+
+    # 搅拌设备
+    G.add_node("stirrer_1", **{
+        "id": "stirrer_1",
+        "name": "stirrer_1",
+        "type": "device",
+        "class": "virtual_stirrer",
+        "data": {},
+        "config": {},
+    })
+    G.add_edge("stirrer_1", "reactor_01")
+
+    # 加热设备
+    G.add_node("heatchill_1", **{
+        "id": "heatchill_1",
+        "name": "heatchill_1",
+        "type": "device",
+        "class": "virtual_heatchill",
+        "data": {},
+        "config": {},
+    })
+    G.add_edge("heatchill_1", "reactor_01")
+
+    # 试剂容器（液体）
+    G.add_node("flask_water", **{
+        "id": "flask_water",
+        "name": "flask_water",
+        "type": "container",
+        "class": "",
+        "data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 500.0}]},
+        "config": {"reagent": "water"},
+    })
+
+    # 固体加样器
+    G.add_node("solid_dispenser_1", **{
+        "id": "solid_dispenser_1",
+        "name": "solid_dispenser_1",
+        "type": "device",
+        "class": "solid_dispenser",
+        "data": {},
+        "config": {},
+    })
+
+    # 泵
+    G.add_node("pump_1", **{
+        "id": "pump_1",
+        "name": "pump_1",
+        "type": "device",
+        "class": "virtual_pump",
+        "data": {},
+        "config": {},
+    })
+    G.add_edge("flask_water", "pump_1")
+    G.add_edge("pump_1", "reactor_01")
+
+    return G
+
+
+# ============ 构建模拟 host 返回数据 ============
+
+def _make_raw_resource(
+    id="reactor_01",
+    uuid="uuid-reactor-01",
+    name="reactor_01",
+    klass="virtual_stirrer",
+    type_="device",
+    parent=None,
+    parent_uuid=None,
+    data=None,
+    config=None,
+    extra=None,
+):
+    """模拟 host 返回的单个资源 dict（与 resource_get 服务响应一致）"""
+    return {
+        "id": id,
+        "uuid": uuid,
+        "name": name,
+        "class": klass,
+        "type": type_,
+        "parent": parent,
+        "parent_uuid": parent_uuid or "",
+        "description": "",
+        "config": config or {},
+        "data": data or {},
+        "extra": extra or {},
+        "position": {"x": 0.0, "y": 0.0, "z": 0.0},
+    }
+
+
+def _simulate_workstation_resource_enrichment(raw_data_list, field_type="unilabos_msgs/Resource"):
+    """
+    模拟 workstation.py 中 resource enrichment 的核心逻辑：
+    raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → protocol_kwargs[k]
+    """
+    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
+
+    if field_type == "unilabos_msgs/Resource":
+        # 单个 Resource：取第一棵树的根节点
+        root_instance = tree_set.trees[0].root_node if tree_set.trees else None
+        return root_instance.get_plr_nested_dict() if root_instance else {}
+    else:
+        # sequence<Resource>：返回列表
+        return [tree.root_node.get_plr_nested_dict() for tree in tree_set.trees]
+
+
+# ============ 全链路测试：Stir 协议 ============
+
+class TestStirProtocolFullChain:
+    """Stir 协议全链路：host raw_data → enriched dict → compiler → action_list"""
+
+    def test_stir_with_enriched_resource_dict(self):
+        """单个 Resource 经过 enrichment 后传给 stir compiler"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(
+            id="reactor_01", uuid="uuid-reactor-01",
+            klass="virtual_stirrer", type_="device",
+        )]
+
+        # 模拟 workstation enrichment
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        assert enriched_vessel["id"] == "reactor_01"
+        assert enriched_vessel["uuid"] == "uuid-reactor-01"
+        assert enriched_vessel["class"] == "virtual_stirrer"
+
+        # 传给编译器
+        G = _build_test_graph()
+        actions = generate_stir_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            time="60",
+            stir_speed=300.0,
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+        action = actions[0]
+        assert action["device_id"] == "stirrer_1"
+        assert action["action_name"] == "stir"
+        assert "vessel" in action["action_kwargs"]
+        assert action["action_kwargs"]["vessel"]["id"] == "reactor_01"
+
+    def test_stir_with_resource_dict_instance(self):
+        """直接用 ResourceDictInstance 传给 stir compiler（通过 get_plr_nested_dict 转换）"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+        inst = tree_set.trees[0].root_node
+
+        # 通过 resource_to_dict 转换（resource_helper 兼容层）
+        vessel_dict = resource_to_dict(inst)
+        assert isinstance(vessel_dict, dict)
+        assert vessel_dict["id"] == "reactor_01"
+
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, vessel=vessel_dict, time="30")
+
+        assert len(actions) >= 1
+        assert actions[0]["action_name"] == "stir"
+
+    def test_stir_with_string_vessel(self):
+        """兼容旧模式：直接传 vessel 字符串"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, vessel="reactor_01", time="30")
+
+        assert len(actions) >= 1
+        assert actions[0]["device_id"] == "stirrer_1"
+        assert actions[0]["action_kwargs"]["vessel"]["id"] == "reactor_01"
+
+
+# ============ 全链路测试：HeatChill 协议 ============
+
+class TestHeatChillProtocolFullChain:
+    """HeatChill 协议全链路"""
+
+    def test_heatchill_with_enriched_resource(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01", klass="virtual_stirrer")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            temp=80.0,
+            time="300",
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+        action = actions[0]
+        assert action["device_id"] == "heatchill_1"
+        assert action["action_name"] == "heat_chill"
+        assert action["action_kwargs"]["temp"] == 80.0
+
+    def test_heatchill_start_with_enriched_resource(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_start_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_start_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            temp=60.0,
+        )
+
+        assert len(actions) >= 1
+        assert actions[0]["action_name"] == "heat_chill_start"
+        assert actions[0]["action_kwargs"]["temp"] == 60.0
+
+    def test_heatchill_stop_with_enriched_resource(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_stop_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_stop_protocol(G=G, vessel=enriched_vessel)
+
+        assert len(actions) >= 1
+        assert actions[0]["action_name"] == "heat_chill_stop"
+
+
+# ============ 全链路测试：Add 协议 ============
+
+class TestAddProtocolFullChain:
+    """Add 协议全链路：vessel enrichment + reagent 查找 + 泵传输"""
+
+    def test_add_solid_with_enriched_resource(self):
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_add_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            reagent="NaCl",
+            mass="5 g",
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+        # 应该包含至少一个 add_solid 或 log_message 动作
+        action_names = [a.get("action_name", "") for a in actions]
+        assert any(name in ["add_solid", "log_message"] for name in action_names)
+
+    def test_add_liquid_with_enriched_resource(self):
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_add_protocol(
+            G=G,
+            vessel=enriched_vessel,
+            reagent="water",
+            volume="10 mL",
+        )
+
+        assert isinstance(actions, list)
+        assert len(actions) >= 1
+
+
+# ============ 全链路测试：ResourceDictInstance 兼容层 ============
+
+class TestResourceDictInstanceCompatibility:
+    """验证编译器兼容层对 ResourceDictInstance 的处理"""
+
+    def test_get_vessel_from_enriched_dict(self):
+        """get_vessel 对 enriched dict 的处理"""
+        raw_data = [_make_raw_resource(
+            id="reactor_01",
+            data={"temperature": 25.0, "liquid": [{"liquid_type": "water", "volume": 10.0}]},
+        )]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        vessel_id, vessel_data = get_vessel(enriched)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+        assert len(vessel_data["liquid"]) == 1
+
+    def test_get_vessel_from_resource_instance(self):
+        """get_vessel 直接对 ResourceDictInstance 的处理"""
+        raw_data = [_make_raw_resource(
+            id="reactor_01",
+            data={"temperature": 25.0},
+        )]
+        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+        inst = tree_set.trees[0].root_node
+
+        vessel_id, vessel_data = get_vessel(inst)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+
+    def test_ensure_resource_instance_round_trip(self):
+        """ensure_resource_instance → resource_to_dict 无损往返"""
+        raw_data = [_make_raw_resource(
+            id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer",
+            data={"temp": 25.0},
+        )]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        # dict → ResourceDictInstance
+        inst = ensure_resource_instance(enriched)
+        assert isinstance(inst, ResourceDictInstance)
+        assert inst.res_content.id == "reactor_01"
+        assert inst.res_content.uuid == "uuid-r01"
+
+        # ResourceDictInstance → dict
+        d = resource_to_dict(inst)
+        assert isinstance(d, dict)
+        assert d["id"] == "reactor_01"
+        assert d["uuid"] == "uuid-r01"
+        assert d["class"] == "virtual_stirrer"
+
+
+# ============ 全链路测试：带 children 的资源树 ============
+
+class TestResourceTreeWithChildren:
+    """测试带 children 结构的资源树通过编译器的路径"""
+
+    def _make_tree_with_children(self):
+        """构建 StationA -> [Flask1, Flask2] 的资源树"""
+        return [
+            _make_raw_resource(
+                id="StationA", uuid="uuid-station-a",
+                name="StationA", klass="workstation", type_="device",
+            ),
+            _make_raw_resource(
+                id="Flask1", uuid="uuid-flask-1",
+                name="Flask1", klass="", type_="resource",
+                parent="StationA", parent_uuid="uuid-station-a",
+                data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
+            ),
+            _make_raw_resource(
+                id="Flask2", uuid="uuid-flask-2",
+                name="Flask2", klass="", type_="resource",
+                parent="StationA", parent_uuid="uuid-station-a",
+                data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
+            ),
+        ]
+
+    def test_enrichment_preserves_children_structure(self):
+        """验证 enrichment 后 children 为嵌套 dict"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        assert enriched["id"] == "StationA"
+        assert "children" in enriched
+        assert isinstance(enriched["children"], dict)
+        assert "Flask1" in enriched["children"]
+        assert "Flask2" in enriched["children"]
+
+    def test_children_preserve_uuid_and_data(self):
+        """验证 children 中的 uuid 和 data 被正确保留"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        flask1 = enriched["children"]["Flask1"]
+        assert flask1["uuid"] == "uuid-flask-1"
+        assert flask1["data"]["liquid"][0]["liquid_type"] == "water"
+        assert flask1["data"]["liquid"][0]["volume"] == 10.0
+
+        flask2 = enriched["children"]["Flask2"]
+        assert flask2["uuid"] == "uuid-flask-2"
+        assert flask2["data"]["liquid"][0]["liquid_type"] == "ethanol"
+
+    def test_children_dict_can_be_popped(self):
+        """模拟 batch_transfer_protocol 中 pop children 的操作"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        # batch_transfer_protocol 中会 pop children
+        children = enriched["children"]
+        popped = children.pop("Flask1")
+        assert popped["id"] == "Flask1"
+        assert "Flask1" not in enriched["children"]
+        assert "Flask2" in enriched["children"]
+
+    def test_children_dict_usable_as_from_repo(self):
+        """模拟 batch_transfer_protocol 中 from_repo 参数"""
+        raw_data = self._make_tree_with_children()
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        # 模拟编译器接收的 from_repo 格式
+        from_repo = {"StationA": enriched}
+        from_repo_ = list(from_repo.values())[0]
+
+        assert from_repo_["id"] == "StationA"
+        assert "Flask1" in from_repo_["children"]
+        assert from_repo_["children"]["Flask1"]["uuid"] == "uuid-flask-1"
+
+    def test_sequence_resource_enrichment(self):
+        """sequence<Resource> 情况：多个独立资源树"""
+        raw_data1 = [_make_raw_resource(id="R1", uuid="uuid-r1")]
+        raw_data2 = [_make_raw_resource(id="R2", uuid="uuid-r2")]
+
+        tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
+        tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
+
+        results = [
+            tree.root_node.get_plr_nested_dict()
+            for ts in [tree_set1, tree_set2]
+            for tree in ts.trees
+        ]
+
+        assert len(results) == 2
+        assert results[0]["id"] == "R1"
+        assert results[1]["id"] == "R2"
+
+
+# ============ 全链路测试：动作列表结构验证 ============
+
+class TestActionListStructure:
+    """验证编译器返回的 action_list 结构符合 workstation 预期"""
+
+    def _validate_action(self, action):
+        """验证单个 action dict 的结构"""
+        if action.get("action_name") == "wait":
+            # wait 伪动作不需要 device_id
+            assert "action_kwargs" in action
+            assert "time" in action["action_kwargs"]
+            return
+
+        if action.get("action_name") == "log_message":
+            # log 伪动作
+            assert "action_kwargs" in action
+            return
+
+        # 正常设备动作
+        assert "device_id" in action, f"action 缺少 device_id: {action}"
+        assert "action_name" in action, f"action 缺少 action_name: {action}"
+        assert "action_kwargs" in action, f"action 缺少 action_kwargs: {action}"
+        assert isinstance(action["action_kwargs"], dict)
+
+    def test_stir_action_list_structure(self):
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, vessel=enriched, time="60")
+
+        for action in actions:
+            if isinstance(action, list):
+                # 并行动作
+                for sub_action in action:
+                    self._validate_action(sub_action)
+            else:
+                self._validate_action(action)
+
+    def test_heatchill_action_list_structure(self):
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_heat_chill_protocol(G=G, vessel=enriched, temp=80.0, time="60")
+
+        for action in actions:
+            if isinstance(action, list):
+                for sub_action in action:
+                    self._validate_action(sub_action)
+            else:
+                self._validate_action(action)
+
+    def test_add_action_list_structure(self):
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+
+        G = _build_test_graph()
+        actions = generate_add_protocol(G=G, vessel=enriched, reagent="NaCl", mass="5 g")
+
+        for action in actions:
+            if isinstance(action, list):
+                for sub_action in action:
+                    self._validate_action(sub_action)
+            else:
+                self._validate_action(action)
+
+
+# ============ 全链路测试：message_converter 到 enrichment ============
+
+class TestMessageConverterToEnrichment:
+    """模拟从 ROS 消息转换后的 dict 到 enrichment 的完整链路"""
+
+    def test_ros_goal_conversion_simulation(self):
+        """
+        模拟 workstation.py 中的完整流程：
+        1. ROS goal 中的 vessel 字段被 convert_from_ros_msg 转换为浅层 dict
+        2. workstation 用 resource_id 请求 host 获取完整资源数据
+        3. ResourceTreeSet.from_raw_dict_list 构建资源树
+        4. get_plr_nested_dict 生成嵌套 dict 替换 protocol_kwargs[k]
+        """
+        # 步骤1: 模拟 convert_from_ros_msg 的输出（浅层 dict，只有 id 等基本字段）
+        shallow_vessel = {
+            "id": "reactor_01",
+            "uuid": "uuid-reactor-01",
+            "name": "reactor_01",
+            "type": "device",
+            "category": "virtual_stirrer",
+            "children": [],
+            "parent": "",
+            "parent_uuid": "",
+            "config": {},
+            "data": {},
+            "extra": {},
+            "position": {"x": 0.0, "y": 0.0, "z": 0.0},
+        }
+
+        protocol_kwargs = {
+            "vessel": shallow_vessel,
+            "time": "300",
+            "stir_speed": 300.0,
+        }
+
+        # 步骤2: 提取 resource_id
+        resource_id = protocol_kwargs["vessel"]["id"]
+        assert resource_id == "reactor_01"
+
+        # 步骤3: 模拟 host 返回完整数据（带 children）
+        host_response = [
+            _make_raw_resource(
+                id="reactor_01", uuid="uuid-reactor-01",
+                klass="virtual_stirrer", type_="device",
+                data={"temperature": 25.0, "pressure": 1.0},
+                config={"max_temp": 300.0},
+            ),
+        ]
+
+        # 步骤4: enrichment
+        enriched = _simulate_workstation_resource_enrichment(host_response)
+        protocol_kwargs["vessel"] = enriched
+
+        # 验证 enrichment 后的 protocol_kwargs
+        assert protocol_kwargs["vessel"]["id"] == "reactor_01"
+        assert protocol_kwargs["vessel"]["uuid"] == "uuid-reactor-01"
+        assert protocol_kwargs["vessel"]["class"] == "virtual_stirrer"
+        assert protocol_kwargs["vessel"]["data"]["temperature"] == 25.0
+        assert protocol_kwargs["vessel"]["config"]["max_temp"] == 300.0
+
+        # 步骤5: 传给编译器
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+        G = _build_test_graph()
+        actions = generate_stir_protocol(G=G, **protocol_kwargs)
+
+        assert len(actions) >= 1
+        assert actions[0]["device_id"] == "stirrer_1"
+        assert actions[0]["action_name"] == "stir"
+
+    def test_ros_goal_with_children_enrichment(self):
+        """ROS goal → enrichment 带 children 的场景（batch transfer）"""
+        # 模拟 host 返回带 children 的数据
+        host_response = [
+            _make_raw_resource(
+                id="StationA", uuid="uuid-sa", klass="workstation", type_="device",
+                config={"num_items_x": 4, "num_items_y": 2},
+            ),
+            _make_raw_resource(
+                id="Plate1", uuid="uuid-p1", type_="resource",
+                parent="StationA", parent_uuid="uuid-sa",
+                data={"sample": "sample_A"},
+            ),
+            _make_raw_resource(
+                id="Plate2", uuid="uuid-p2", type_="resource",
+                parent="StationA", parent_uuid="uuid-sa",
+                data={"sample": "sample_B"},
+            ),
+        ]
+
+        enriched = _simulate_workstation_resource_enrichment(host_response)
+
+        assert enriched["id"] == "StationA"
+        assert enriched["class"] == "workstation"
+        assert len(enriched["children"]) == 2
+        assert enriched["children"]["Plate1"]["data"]["sample"] == "sample_A"
+        assert enriched["children"]["Plate2"]["uuid"] == "uuid-p2"
+
+        # 模拟 batch_transfer 的 from_repo 格式
+        from_repo = {"StationA": enriched}
+        from_repo_ = list(from_repo.values())[0]
+        assert "Plate1" in from_repo_["children"]
+        assert from_repo_["children"]["Plate1"]["uuid"] == "uuid-p1"
+
+
+# ============ 全链路测试：多协议连续调用 ============
+
+class TestMultiProtocolChain:
+    """模拟连续执行多个协议（如 add → stir → heatchill）"""
+
+    def test_sequential_protocol_execution(self):
+        """模拟典型合成路径：add → stir → heatchill"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
+        from unilabos.compile.add_protocol import generate_add_protocol
+
+        raw_data = [_make_raw_resource(
+            id="reactor_01", uuid="uuid-reactor-01",
+            klass="virtual_stirrer", type_="device",
+        )]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+        G = _build_test_graph()
+
+        # 每次调用用 enriched 的副本，避免编译器修改原数据
+        all_actions = []
+
+        # 步骤1: 添加试剂
+        add_actions = generate_add_protocol(
+            G=G, vessel=copy.deepcopy(enriched),
+            reagent="NaCl", mass="5 g",
+        )
+        all_actions.extend(add_actions)
+
+        # 步骤2: 搅拌
+        stir_actions = generate_stir_protocol(
+            G=G, vessel=copy.deepcopy(enriched),
+            time="60", stir_speed=300.0,
+        )
+        all_actions.extend(stir_actions)
+
+        # 步骤3: 加热
+        heat_actions = generate_heat_chill_protocol(
+            G=G, vessel=copy.deepcopy(enriched),
+            temp=80.0, time="300",
+        )
+        all_actions.extend(heat_actions)
+
+        # 验证总动作列表
+        assert len(all_actions) >= 3
+        # 每个协议至少产生一个核心动作
+        action_names = [a.get("action_name", "") for a in all_actions if isinstance(a, dict)]
+        assert "stir" in action_names
+        assert "heat_chill" in action_names
+
+    def test_enriched_resource_not_mutated(self):
+        """验证编译器不应修改传入的 enriched dict（如果需要修改应 deepcopy）"""
+        from unilabos.compile.stir_protocol import generate_stir_protocol
+
+        raw_data = [_make_raw_resource(id="reactor_01")]
+        enriched = _simulate_workstation_resource_enrichment(raw_data)
+        original_id = enriched["id"]
+        original_uuid = enriched["uuid"]
+
+        G = _build_test_graph()
+        generate_stir_protocol(G=G, vessel=enriched, time="60")
+
+        # 验证 enriched dict 核心字段未被修改
+        assert enriched["id"] == original_id
+        assert enriched["uuid"] == original_uuid

tests/compile/test_pump_separate_full_chain.py

@@ -0,0 +1,538 @@
+"""
+PumpTransfer 和 Separate 全链路测试
+
+构建包含泵/阀门/分液漏斗的完整设备图，
+输出完整的中间数据（最短路径、泵骨架、动作列表等）。
+"""
+
+import copy
+import json
+import pprint
+import pytest
+import networkx as nx
+
+from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.compile.utils.resource_helper import get_resource_id, get_resource_data
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+
+def _make_raw_resource(id, uuid=None, name=None, klass="", type_="device",
+                       parent=None, parent_uuid=None, data=None, config=None, extra=None):
+    return {
+        "id": id,
+        "uuid": uuid or f"uuid-{id}",
+        "name": name or id,
+        "class": klass,
+        "type": type_,
+        "parent": parent,
+        "parent_uuid": parent_uuid or "",
+        "description": "",
+        "config": config or {},
+        "data": data or {},
+        "extra": extra or {},
+        "position": {"x": 0.0, "y": 0.0, "z": 0.0},
+    }
+
+
+def _simulate_enrichment(raw_data_list):
+    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
+    root = tree_set.trees[0].root_node if tree_set.trees else None
+    return root.get_plr_nested_dict() if root else {}
+
+
+def _build_pump_transfer_graph():
+    """
+    构建带泵/阀门的设备图，用于测试 PumpTransfer:
+
+    flask_water (container)
+        ↓
+    valve_1 (multiway_valve, pump_1 连接)
+        ↓
+    reactor_01 (device)
+
+    同时有: stirrer_1, heatchill_1, separator_1
+    """
+    G = nx.DiGraph()
+
+    # 源容器
+    G.add_node("flask_water", **{
+        "id": "flask_water", "name": "flask_water",
+        "type": "container", "class": "",
+        "data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
+        "config": {"reagent": "water"},
+    })
+
+    # 多通阀
+    G.add_node("valve_1", **{
+        "id": "valve_1", "name": "valve_1",
+        "type": "device", "class": "multiway_valve",
+        "data": {}, "config": {},
+    })
+
+    # 注射泵（连接到阀门）
+    G.add_node("pump_1", **{
+        "id": "pump_1", "name": "pump_1",
+        "type": "device", "class": "virtual_pump",
+        "data": {}, "config": {"max_volume": 25.0},
+    })
+
+    # 目标容器
+    G.add_node("reactor_01", **{
+        "id": "reactor_01", "name": "reactor_01",
+        "type": "device", "class": "virtual_stirrer",
+        "data": {"liquid": [{"liquid_type": "water", "volume": 50.0}]},
+        "config": {},
+    })
+
+    # 搅拌器
+    G.add_node("stirrer_1", **{
+        "id": "stirrer_1", "name": "stirrer_1",
+        "type": "device", "class": "virtual_stirrer",
+        "data": {}, "config": {},
+    })
+
+    # 加热器
+    G.add_node("heatchill_1", **{
+        "id": "heatchill_1", "name": "heatchill_1",
+        "type": "device", "class": "virtual_heatchill",
+        "data": {}, "config": {},
+    })
+
+    # 分离器
+    G.add_node("separator_1", **{
+        "id": "separator_1", "name": "separator_1",
+        "type": "device", "class": "separator_controller",
+        "data": {}, "config": {},
+    })
+
+    # 废液容器
+    G.add_node("waste_workup", **{
+        "id": "waste_workup", "name": "waste_workup",
+        "type": "container", "class": "",
+        "data": {}, "config": {},
+    })
+
+    # 产物收集瓶
+    G.add_node("product_flask", **{
+        "id": "product_flask", "name": "product_flask",
+        "type": "container", "class": "",
+        "data": {}, "config": {},
+    })
+
+    # DCM溶剂瓶
+    G.add_node("flask_dcm", **{
+        "id": "flask_dcm", "name": "flask_dcm",
+        "type": "container", "class": "",
+        "data": {"reagent_name": "dcm", "liquid": [{"liquid_type": "dcm", "volume": 500.0}]},
+        "config": {"reagent": "dcm"},
+    })
+
+    # 边连接 —— flask_water → valve_1 → reactor_01
+    G.add_edge("flask_water", "valve_1", port={"valve_1": "port_1"})
+    G.add_edge("valve_1", "reactor_01", port={"valve_1": "port_2"})
+    # 阀门 → 泵
+    G.add_edge("valve_1", "pump_1")
+    G.add_edge("pump_1", "valve_1")
+    # 搅拌器 ↔ reactor
+    G.add_edge("stirrer_1", "reactor_01")
+    # 加热器 ↔ reactor
+    G.add_edge("heatchill_1", "reactor_01")
+    # 分离器 ↔ reactor
+    G.add_edge("separator_1", "reactor_01")
+    G.add_edge("reactor_01", "separator_1")
+    # DCM → valve → reactor (同一泵路)
+    G.add_edge("flask_dcm", "valve_1", port={"valve_1": "port_3"})
+    # reactor → valve → product/waste
+    G.add_edge("valve_1", "product_flask", port={"valve_1": "port_4"})
+    G.add_edge("valve_1", "waste_workup", port={"valve_1": "port_5"})
+
+    return G
+
+
+def _format_action(action, indent=0):
+    """格式化单个 action 为可读字符串"""
+    prefix = "  " * indent
+    if isinstance(action, list):
+        # 并行动作
+        lines = [f"{prefix}[PARALLEL]"]
+        for sub in action:
+            lines.append(_format_action(sub, indent + 1))
+        return "\n".join(lines)
+
+    name = action.get("action_name", "?")
+    device = action.get("device_id", "")
+    kwargs = action.get("action_kwargs", {})
+    comment = action.get("_comment", "")
+    meta = action.get("_transfer_meta", "")
+
+    parts = [f"{prefix}→ {device}::{name}"]
+    if kwargs:
+        # 精简输出
+        kw_str = ", ".join(f"{k}={v}" for k, v in kwargs.items()
+                           if k not in ("progress_message",))
+        if kw_str:
+            parts.append(f"  kwargs: {{{kw_str}}}")
+    if comment:
+        parts.append(f"  # {comment}")
+    if meta:
+        parts.append(f"  meta: {meta}")
+    return "\n".join(f"{prefix}{p}" if i > 0 else p for i, p in enumerate(parts))
+
+
+def _dump_actions(actions, title=""):
+    """打印完整动作列表"""
+    print(f"\n{'='*70}")
+    print(f"  {title}")
+    print(f"  总动作数: {len(actions)}")
+    print(f"{'='*70}")
+    for i, action in enumerate(actions):
+        print(f"\n  [{i:02d}] {_format_action(action, indent=2)}")
+    print(f"\n{'='*70}\n")
+
+
+# ==================== PumpTransfer 全链路 ====================
+
+class TestPumpTransferFullChain:
+    """PumpTransfer: 包含图路径查找、泵骨架构建、动作序列生成"""
+
+    def test_pump_transfer_basic(self):
+        """基础泵转移：flask_water → valve_1 → reactor_01"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+
+        # 检查最短路径
+        path = nx.shortest_path(G, "flask_water", "reactor_01")
+        print(f"\n最短路径: {path}")
+        assert "valve_1" in path
+
+        # 调用编译器
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="flask_water",
+            to_vessel_id="reactor_01",
+            volume=10.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "PumpTransfer: flask_water → reactor_01, 10mL")
+
+        # 验证
+        assert isinstance(actions, list)
+        assert len(actions) > 0
+        # 应该有 set_valve_position 和 set_position 动作
+        flat = [a for a in actions if isinstance(a, dict)]
+        action_names = [a.get("action_name") for a in flat]
+        print(f"动作名称列表: {action_names}")
+        assert "set_valve_position" in action_names
+        assert "set_position" in action_names
+
+    def test_pump_transfer_with_rinsing_enriched_vessel(self):
+        """pump_with_rinsing 接收 enriched vessel dict"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
+
+        G = _build_pump_transfer_graph()
+
+        # 模拟 enrichment
+        from_raw = [_make_raw_resource(
+            id="flask_water", klass="", type_="container",
+            data={"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
+        )]
+        to_raw = [_make_raw_resource(
+            id="reactor_01", klass="virtual_stirrer", type_="device",
+        )]
+
+        from_enriched = _simulate_enrichment(from_raw)
+        to_enriched = _simulate_enrichment(to_raw)
+
+        print(f"\nfrom_vessel enriched: {json.dumps(from_enriched, indent=2, ensure_ascii=False)[:300]}...")
+        print(f"to_vessel enriched: {json.dumps(to_enriched, indent=2, ensure_ascii=False)[:300]}...")
+
+        # get_vessel 兼容
+        fid, fdata = get_vessel(from_enriched)
+        tid, tdata = get_vessel(to_enriched)
+        print(f"from_vessel_id={fid}, to_vessel_id={tid}")
+        assert fid == "flask_water"
+        assert tid == "reactor_01"
+
+        actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=from_enriched,
+            to_vessel=to_enriched,
+            volume=15.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "PumpTransferWithRinsing: flask_water → reactor_01, 15mL (enriched)")
+
+        assert isinstance(actions, list)
+        assert len(actions) > 0
+
+    def test_pump_transfer_multi_batch(self):
+        """体积 > max_volume 时自动分批"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+
+        # pump_1 的 max_volume = 25mL，转 60mL 应该分 3 批
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="flask_water",
+            to_vessel_id="reactor_01",
+            volume=60.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "PumpTransfer 分批: 60mL (max_volume=25mL, 预期 3 批)")
+
+        assert len(actions) > 0
+        # 应该有多轮 set_position
+        flat = [a for a in actions if isinstance(a, dict)]
+        set_position_count = sum(1 for a in flat if a.get("action_name") == "set_position")
+        print(f"set_position 动作数: {set_position_count}")
+        # 3批 × 2次 (吸液 + 排液) = 6 次 set_position
+        assert set_position_count >= 6
+
+    def test_pump_transfer_no_path(self):
+        """无路径时返回空"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+        G.add_node("isolated_flask", type="container")
+
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="isolated_flask",
+            to_vessel_id="reactor_01",
+            volume=10.0,
+        )
+
+        print(f"\n无路径时的动作列表: {actions}")
+        assert actions == []
+
+    def test_pump_backbone_filtering(self):
+        """验证泵骨架过滤逻辑（电磁阀被跳过）"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol
+
+        G = _build_pump_transfer_graph()
+        # 添加电磁阀到路径中
+        G.add_node("solenoid_valve_1", **{
+            "type": "device", "class": "solenoid_valve",
+            "data": {}, "config": {},
+        })
+        # flask_water → solenoid_valve_1 → valve_1 → reactor_01
+        G.remove_edge("flask_water", "valve_1")
+        G.add_edge("flask_water", "solenoid_valve_1")
+        G.add_edge("solenoid_valve_1", "valve_1")
+
+        path = nx.shortest_path(G, "flask_water", "reactor_01")
+        print(f"\n含电磁阀的路径: {path}")
+        assert "solenoid_valve_1" in path
+
+        actions = generate_pump_protocol(
+            G=G,
+            from_vessel_id="flask_water",
+            to_vessel_id="reactor_01",
+            volume=10.0,
+        )
+
+        _dump_actions(actions, "PumpTransfer 含电磁阀: flask_water → solenoid → valve_1 → reactor_01")
+        # 电磁阀应被跳过，泵骨架只有 valve_1
+        assert len(actions) > 0
+
+
+# ==================== Separate 全链路 ====================
+
+class TestSeparateProtocolFullChain:
+    """Separate: 包含 bug 确认和正常路径测试"""
+
+    def test_separate_bug_line_128_fixed(self):
+        """验证 separate_protocol.py:128 的 bug 已修复（不再 crash）"""
+        from unilabos.compile.separate_protocol import generate_separate_protocol
+
+        G = _build_pump_transfer_graph()
+
+        raw_data = [_make_raw_resource(
+            id="reactor_01", klass="virtual_stirrer",
+            data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
+        )]
+        enriched = _simulate_enrichment(raw_data)
+
+        # 修复前：final_vessel_id, _ = vessel_id 会 crash（字符串解包）
+        # 修复后：final_vessel_id = vessel_id，正常返回 action 列表
+        result = generate_separate_protocol(
+            G=G,
+            vessel=enriched,
+            purpose="extract",
+            product_phase="top",
+            product_vessel="product_flask",
+            waste_vessel="waste_workup",
+            solvent="dcm",
+            volume="100 mL",
+        )
+        assert isinstance(result, list)
+        assert len(result) > 0
+
+    def test_separate_manual_workaround(self):
+        """
+        绕过 line 128 bug，手动测试分离编译器中可以工作的子函数
+        """
+        from unilabos.compile.separate_protocol import (
+            find_separator_device,
+            find_separation_vessel_bottom,
+        )
+        from unilabos.compile.utils.vessel_parser import (
+            find_connected_stirrer,
+            find_solvent_vessel,
+        )
+        from unilabos.compile.utils.unit_parser import parse_volume_input
+        from unilabos.compile.utils.resource_helper import get_resource_liquid_volume as get_vessel_liquid_volume
+
+        G = _build_pump_transfer_graph()
+
+        # 1. get_vessel 解析 enriched dict
+        raw_data = [_make_raw_resource(
+            id="reactor_01", klass="virtual_stirrer",
+            data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
+        )]
+        enriched = _simulate_enrichment(raw_data)
+        vessel_id, vessel_data = get_vessel(enriched)
+        print(f"\nvessel_id: {vessel_id}")
+        print(f"vessel_data: {vessel_data}")
+        assert vessel_id == "reactor_01"
+        assert vessel_data["liquid"][0]["volume"] == 100.0
+
+        # 2. find_separator_device
+        sep = find_separator_device(G, vessel_id)
+        print(f"分离器设备: {sep}")
+        assert sep == "separator_1"
+
+        # 3. find_connected_stirrer
+        stirrer = find_connected_stirrer(G, vessel_id)
+        print(f"搅拌器设备: {stirrer}")
+        assert stirrer == "stirrer_1"
+
+        # 4. find_solvent_vessel
+        solvent_v = find_solvent_vessel(G, "dcm")
+        print(f"DCM溶剂容器: {solvent_v}")
+        assert solvent_v == "flask_dcm"
+
+        # 5. parse_volume_input
+        vol = parse_volume_input("200 mL")
+        print(f"体积解析: '200 mL' → {vol}")
+        assert vol == 200.0
+
+        vol2 = parse_volume_input("1.5 L")
+        print(f"体积解析: '1.5 L' → {vol2}")
+        assert vol2 == 1500.0
+
+        # 6. get_vessel_liquid_volume
+        liq_vol = get_vessel_liquid_volume(enriched)
+        print(f"液体体积 (enriched dict): {liq_vol}")
+        assert liq_vol == 100.0
+
+        # 7. find_separation_vessel_bottom
+        bottom = find_separation_vessel_bottom(G, vessel_id)
+        print(f"分离容器底部: {bottom}")
+        # 当前图中没有命名匹配的底部容器
+
+    def test_pump_transfer_for_separate_subflow(self):
+        """测试 separate 中调用的 pump 子流程（溶剂添加 → 分液漏斗）"""
+        from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
+
+        G = _build_pump_transfer_graph()
+
+        # 模拟分离前的溶剂添加步骤
+        actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel="flask_dcm",
+            to_vessel="reactor_01",
+            volume=100.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions, "Separate 子流程: flask_dcm → reactor_01, 100mL DCM")
+
+        assert isinstance(actions, list)
+        assert len(actions) > 0
+
+        # 模拟分离后产物转移
+        actions2 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel="reactor_01",
+            to_vessel="product_flask",
+            volume=50.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions2, "Separate 子流程: reactor_01 → product_flask, 50mL 产物")
+
+        assert len(actions2) > 0
+
+        # 废液转移
+        actions3 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel="reactor_01",
+            to_vessel="waste_workup",
+            volume=50.0,
+            flowrate=2.5,
+            transfer_flowrate=0.5,
+        )
+
+        _dump_actions(actions3, "Separate 子流程: reactor_01 → waste_workup, 50mL 废液")
+
+        assert len(actions3) > 0
+
+
+# ==================== 图路径可视化 ====================
+
+class TestGraphPathVisualization:
+    """输出图中关键路径信息"""
+
+    def test_all_shortest_paths(self):
+        """输出所有容器之间的最短路径"""
+        G = _build_pump_transfer_graph()
+
+        containers = [n for n in G.nodes() if G.nodes[n].get("type") == "container"]
+        devices = [n for n in G.nodes() if G.nodes[n].get("type") == "device"]
+
+        print(f"\n{'='*70}")
+        print(f"  设备图概览")
+        print(f"{'='*70}")
+        print(f"  容器节点 ({len(containers)}): {containers}")
+        print(f"  设备节点 ({len(devices)}): {devices}")
+        print(f"  边数: {G.number_of_edges()}")
+        print(f"  边列表:")
+        for u, v, data in G.edges(data=True):
+            port_info = data.get("port", "")
+            print(f"    {u} → {v}  {port_info if port_info else ''}")
+
+        print(f"\n  关键路径:")
+        pairs = [
+            ("flask_water", "reactor_01"),
+            ("flask_dcm", "reactor_01"),
+            ("reactor_01", "product_flask"),
+            ("reactor_01", "waste_workup"),
+            ("flask_water", "product_flask"),
+        ]
+        for src, dst in pairs:
+            try:
+                path = nx.shortest_path(G, src, dst)
+                length = len(path) - 1
+                # 标注路径上的节点类型
+                annotated = []
+                for n in path:
+                    ntype = G.nodes[n].get("type", "?")
+                    nclass = G.nodes[n].get("class", "")
+                    annotated.append(f"{n}({ntype}{'/' + nclass if nclass else ''})")
+                print(f"    {src} → {dst}: 距离={length}")
+                print(f"      路径: {' → '.join(annotated)}")
+            except nx.NetworkXNoPath:
+                print(f"    {src} → {dst}: 无路径!")
+
+        print(f"{'='*70}\n")

tests/compile/test_resource_conversion_path.py

@@ -0,0 +1,324 @@
+"""
+ROS Goal → Resource 转换 → 编译器路径的集成测试
+
+覆盖：
+1. Resource.msg 新字段(uuid, klass, extra)的往返转换
+2. dict → ROS Resource → dict 往返无损
+3. ResourceTreeSet → get_plr_nested_dict 保留 children 结构
+4. resource_helper 兼容 dict / ResourceDictInstance
+5. vessel_parser.get_vessel 兼容 ResourceDictInstance
+"""
+
+import json
+import pytest
+
+# 不依赖 ROS 的测试 —— 直接测试 resource 处理路径
+from unilabos.resources.resource_tracker import (
+    ResourceDict,
+    ResourceDictInstance,
+    ResourceTreeInstance,
+    ResourceTreeSet,
+)
+from unilabos.compile.utils.resource_helper import (
+    ensure_resource_instance,
+    resource_to_dict,
+    get_resource_id,
+    get_resource_data,
+    get_resource_display_info,
+    get_resource_liquid_volume,
+)
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+
+# ============ 构建测试数据 ============
+
+
+def _make_resource_dict(
+    id="reactor_01",
+    uuid="uuid-reactor-01",
+    name="reactor_01",
+    klass="virtual_stirrer",
+    type_="device",
+    parent=None,
+    parent_uuid=None,
+    data=None,
+    config=None,
+    extra=None,
+):
+    return {
+        "id": id,
+        "uuid": uuid,
+        "name": name,
+        "class": klass,
+        "type": type_,
+        "parent": parent,
+        "parent_uuid": parent_uuid or "",
+        "description": "",
+        "config": config or {},
+        "data": data or {},
+        "extra": extra or {},
+        "position": {"x": 1.0, "y": 2.0, "z": 3.0},
+    }
+
+
+def _make_resource_instance(id="reactor_01", **kwargs):
+    d = _make_resource_dict(id=id, **kwargs)
+    return ResourceDictInstance.get_resource_instance_from_dict(d)
+
+
+def _make_tree_with_children():
+    """构建 StationA -> [R1, R2] 的资源树"""
+    raw_data = [
+        _make_resource_dict(
+            id="StationA",
+            uuid="uuid-station-a",
+            name="StationA",
+            klass="workstation",
+            type_="device",
+        ),
+        _make_resource_dict(
+            id="R1",
+            uuid="uuid-r1",
+            name="R1",
+            klass="",
+            type_="resource",
+            parent="StationA",
+            parent_uuid="uuid-station-a",
+            data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
+        ),
+        _make_resource_dict(
+            id="R2",
+            uuid="uuid-r2",
+            name="R2",
+            klass="",
+            type_="resource",
+            parent="StationA",
+            parent_uuid="uuid-station-a",
+            data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
+        ),
+    ]
+    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+    return tree_set
+
+
+# ============ resource_helper 测试 ============
+
+
+class TestResourceHelper:
+    """测试 resource_helper 对 dict / ResourceDictInstance 的兼容性"""
+
+    def test_ensure_resource_instance_from_dict(self):
+        d = _make_resource_dict()
+        inst = ensure_resource_instance(d)
+        assert isinstance(inst, ResourceDictInstance)
+        assert inst.res_content.id == "reactor_01"
+        assert inst.res_content.uuid == "uuid-reactor-01"
+
+    def test_ensure_resource_instance_passthrough(self):
+        inst = _make_resource_instance()
+        result = ensure_resource_instance(inst)
+        assert result is inst  # 同一个对象，不复制
+
+    def test_ensure_resource_instance_none(self):
+        assert ensure_resource_instance(None) is None
+
+    def test_get_resource_id_from_dict(self):
+        d = _make_resource_dict(id="my_device")
+        assert get_resource_id(d) == "my_device"
+
+    def test_get_resource_id_from_instance(self):
+        inst = _make_resource_instance(id="my_device")
+        assert get_resource_id(inst) == "my_device"
+
+    def test_get_resource_id_from_string(self):
+        assert get_resource_id("my_device") == "my_device"
+
+    def test_get_resource_id_from_wrapped_dict(self):
+        """兼容 {station_id: {...}} 格式"""
+        d = {"StationA": {"id": "StationA", "name": "StationA"}}
+        assert get_resource_id(d) == "StationA"
+
+    def test_get_resource_data_from_dict(self):
+        d = _make_resource_dict(data={"temperature": 25.0})
+        assert get_resource_data(d) == {"temperature": 25.0}
+
+    def test_get_resource_data_from_instance(self):
+        inst = _make_resource_instance(data={"temperature": 25.0})
+        data = get_resource_data(inst)
+        assert data["temperature"] == 25.0
+
+    def test_get_resource_display_info_from_dict(self):
+        d = _make_resource_dict(id="reactor_01", name="Reactor #1")
+        info = get_resource_display_info(d)
+        assert "reactor_01" in info
+        assert "Reactor #1" in info
+
+    def test_get_resource_display_info_from_instance(self):
+        inst = _make_resource_instance(id="reactor_01", name="Reactor #1")
+        info = get_resource_display_info(inst)
+        assert "reactor_01" in info
+
+    def test_get_resource_display_info_from_string(self):
+        assert get_resource_display_info("reactor_01") == "reactor_01"
+
+    def test_get_resource_liquid_volume(self):
+        d = _make_resource_dict(data={"liquid": [{"liquid_type": "water", "volume": 15.5}]})
+        assert get_resource_liquid_volume(d) == pytest.approx(15.5)
+
+    def test_resource_to_dict_from_instance(self):
+        inst = _make_resource_instance(id="reactor_01", klass="virtual_stirrer")
+        d = resource_to_dict(inst)
+        assert isinstance(d, dict)
+        assert d["id"] == "reactor_01"
+        assert d["class"] == "virtual_stirrer"
+
+    def test_resource_to_dict_passthrough(self):
+        d = _make_resource_dict()
+        result = resource_to_dict(d)
+        assert result is d  # 同一个 dict
+
+
+# ============ vessel_parser 兼容性测试 ============
+
+
+class TestVesselParser:
+    """测试 vessel_parser.get_vessel 对 ResourceDictInstance 的兼容"""
+
+    def test_get_vessel_from_dict(self):
+        d = _make_resource_dict(id="reactor_01", data={"temperature": 25.0})
+        vessel_id, vessel_data = get_vessel(d)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+
+    def test_get_vessel_from_string(self):
+        vessel_id, vessel_data = get_vessel("reactor_01")
+        assert vessel_id == "reactor_01"
+        assert vessel_data == {}
+
+    def test_get_vessel_from_resource_instance(self):
+        inst = _make_resource_instance(id="reactor_01", data={"temperature": 25.0})
+        vessel_id, vessel_data = get_vessel(inst)
+        assert vessel_id == "reactor_01"
+        assert vessel_data["temperature"] == 25.0
+
+    def test_get_vessel_from_wrapped_dict(self):
+        """兼容 {station_id: {id: ..., data: {...}}} 格式"""
+        d = {"StationA": {"id": "StationA", "data": {"vol": 100}}}
+        vessel_id, vessel_data = get_vessel(d)
+        assert vessel_id == "StationA"
+
+
+# ============ ResourceTreeSet → get_plr_nested_dict 测试 ============
+
+
+class TestResourceTreeRoundTrip:
+    """测试 ResourceTreeSet → get_plr_nested_dict 保留树结构和关键字段"""
+
+    def test_tree_preserves_children(self):
+        tree_set = _make_tree_with_children()
+        assert len(tree_set.trees) == 1
+        root = tree_set.trees[0].root_node
+        assert root.res_content.id == "StationA"
+        assert len(root.children) == 2
+
+    def test_plr_nested_dict_has_children(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert isinstance(nested, dict)
+        assert "children" in nested
+        assert isinstance(nested["children"], dict)
+        assert "R1" in nested["children"]
+        assert "R2" in nested["children"]
+
+    def test_plr_nested_dict_preserves_uuid(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert nested["uuid"] == "uuid-station-a"
+        assert nested["children"]["R1"]["uuid"] == "uuid-r1"
+
+    def test_plr_nested_dict_preserves_klass(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert nested["class"] == "workstation"
+
+    def test_plr_nested_dict_preserves_data(self):
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        r1_data = nested["children"]["R1"]["data"]
+        assert "liquid" in r1_data
+        assert r1_data["liquid"][0]["volume"] == 10.0
+
+    def test_plr_nested_dict_usable_by_get_vessel(self):
+        """get_plr_nested_dict 的结果可以直接传给 get_vessel"""
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        vessel_id, vessel_data = get_vessel(nested)
+        assert vessel_id == "StationA"
+
+    def test_dump_vs_plr_nested_dict(self):
+        """dump() 是扁平化的，get_plr_nested_dict 保留树结构"""
+        tree_set = _make_tree_with_children()
+        # dump 返回扁平列表
+        dumped = tree_set.dump()
+        assert isinstance(dumped[0], list)
+        assert len(dumped[0]) == 3  # StationA + R1 + R2，全部扁平
+
+        # get_plr_nested_dict 保留嵌套
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+        assert isinstance(nested["children"], dict)
+        assert len(nested["children"]) == 2  # 嵌套的 children
+
+
+# ============ 模拟 workstation 路径测试 ============
+
+
+class TestWorkstationPath:
+    """模拟 workstation.py 中的关键路径:
+    raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → compiler
+    """
+
+    def test_single_resource_path(self):
+        """单个 Resource: 取第一棵树的根节点"""
+        raw_data = [
+            _make_resource_dict(id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer"),
+        ]
+        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
+        root = tree_set.trees[0].root_node
+        result = root.get_plr_nested_dict()
+        assert result["id"] == "reactor_01"
+        assert result["uuid"] == "uuid-r01"
+        assert result["class"] == "virtual_stirrer"
+
+    def test_resource_with_children_path(self):
+        """Resource 带 children: AGV/batch transfer 场景"""
+        tree_set = _make_tree_with_children()
+        root = tree_set.trees[0].root_node
+        nested = root.get_plr_nested_dict()
+
+        # 模拟编译器接收到的参数
+        from_repo = {"StationA": nested}
+        assert "A01" not in from_repo["StationA"]["children"]  # children 按 id 索引
+        assert "R1" in from_repo["StationA"]["children"]
+        assert from_repo["StationA"]["children"]["R1"]["uuid"] == "uuid-r1"
+
+    def test_multiple_resource_path(self):
+        """多个 Resource: 每棵树取根节点"""
+        raw_data1 = [_make_resource_dict(id="R1", uuid="uuid-r1")]
+        raw_data2 = [_make_resource_dict(id="R2", uuid="uuid-r2")]
+        # 模拟 host 返回多棵树
+        tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
+        tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
+        results = [
+            tree.root_node.get_plr_nested_dict()
+            for ts in [tree_set1, tree_set2]
+            for tree in ts.trees
+        ]
+        assert len(results) == 2
+        assert results[0]["id"] == "R1"
+        assert results[1]["id"] == "R2"

tests/devices/test_agv_transport_station.py

@@ -0,0 +1,137 @@
+"""
+AGVTransportStation driver 测试
+
+覆盖：初始化、carrier property、slot 查询、路由查询、capacity 计算。
+"""
+
+import pytest
+from unittest.mock import MagicMock, patch
+
+from unilabos.devices.transport.agv_workstation import AGVTransportStation
+from unilabos.resources.warehouse import WareHouse, warehouse_factory
+
+
+class TestAGVTransportStation:
+    def _make_driver(self, route_table=None, device_roles=None):
+        """创建一个 AGVTransportStation 实例"""
+        return AGVTransportStation(
+            deck=None,
+            route_table=route_table or {
+                "A->B": {"nav_command": '{"target":"LM1"}', "arm_pick": "pick.urp", "arm_place": "place.urp"}
+            },
+            device_roles=device_roles or {"navigator": "agv_nav", "arm": "agv_arm"},
+        )
+
+    def _make_warehouse(self, name="agv_platform", nx=2, ny=1, nz=1):
+        """创建一个测试用 Warehouse"""
+        return warehouse_factory(name=name, num_items_x=nx, num_items_y=ny, num_items_z=nz)
+
+    def test_init_deck_none(self):
+        """AGVTransportStation 初始化时 deck=None"""
+        driver = self._make_driver()
+        assert driver.deck is None
+
+    def test_init_route_table(self):
+        """路由表正确存储"""
+        driver = self._make_driver()
+        assert "A->B" in driver.route_table
+
+    def test_init_device_roles(self):
+        """设备角色正确存储"""
+        driver = self._make_driver()
+        assert driver.device_roles["navigator"] == "agv_nav"
+        assert driver.device_roles["arm"] == "agv_arm"
+
+    def test_carrier_without_ros_node(self):
+        """未 post_init 时 carrier 返回 None"""
+        driver = self._make_driver()
+        assert driver.carrier is None
+
+    def test_carrier_with_warehouse(self):
+        """post_init 后 carrier 返回正确的 WareHouse"""
+        driver = self._make_driver()
+        wh = self._make_warehouse()
+
+        # 模拟 ros_node 和 resource_tracker
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.carrier is wh
+        assert isinstance(driver.carrier, WareHouse)
+
+    def test_capacity(self):
+        """容量计算正确"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.capacity == 2
+
+    def test_capacity_multi_layer(self):
+        """多层 Warehouse 容量"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=1, ny=2, nz=3)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert driver.capacity == 6
+
+    def test_capacity_no_carrier(self):
+        """无 carrier 时容量为 0"""
+        driver = self._make_driver()
+        assert driver.capacity == 0
+
+    def test_free_slots(self):
+        """空载时所有 slot 为空闲"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        free = driver.free_slots
+        assert len(free) == 2
+
+    def test_occupied_slots_empty(self):
+        """空载时 occupied_slots 为空"""
+        driver = self._make_driver()
+        wh = self._make_warehouse(nx=2, ny=1, nz=1)
+        mock_ros_node = MagicMock()
+        mock_ros_node.resource_tracker.resources = [wh]
+        mock_ros_node.device_id = "AGV"
+        driver.post_init(mock_ros_node)
+
+        assert len(driver.occupied_slots) == 0
+
+    def test_resolve_route(self):
+        """路由查询返回正确的指令"""
+        driver = self._make_driver()
+        route = driver.resolve_route("A", "B")
+        assert route["nav_command"] == '{"target":"LM1"}'
+        assert route["arm_pick"] == "pick.urp"
+
+    def test_resolve_route_not_found(self):
+        """查询不存在的路线时抛出 KeyError"""
+        driver = self._make_driver()
+        with pytest.raises(KeyError, match="路由表"):
+            driver.resolve_route("X", "Y")
+
+    def test_get_device_id(self):
+        """获取子设备 ID"""
+        driver = self._make_driver()
+        assert driver.get_device_id("navigator") == "agv_nav"
+        assert driver.get_device_id("arm") == "agv_arm"
+
+    def test_get_device_id_not_found(self):
+        """获取不存在的角色时抛出 KeyError"""
+        driver = self._make_driver()
+        with pytest.raises(KeyError, match="未配置设备角色"):
+            driver.get_device_id("gripper")

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.17"
+__version__ = "0.10.19"

unilabos/app/main.py

@@ -1,8 +1,10 @@
 import argparse
 import asyncio
 import os
+import platform
 import shutil
 import signal
+import subprocess
 import sys
 import threading
 import time
@@ -24,6 +26,84 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 _restart_requested: bool = False
 _restart_reason: str = ""
 
+RESTART_EXIT_CODE = 42
+
+
+def _build_child_argv():
+    """Build sys.argv for child process, stripping supervisor-only arguments."""
+    result = []
+    skip_next = False
+    for arg in sys.argv:
+        if skip_next:
+            skip_next = False
+            continue
+        if arg in ("--restart_mode", "--restart-mode"):
+            continue
+        if arg in ("--auto_restart_count", "--auto-restart-count"):
+            skip_next = True
+            continue
+        if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
+            continue
+        result.append(arg)
+    return result
+
+
+def _run_as_supervisor(max_restarts: int):
+    """
+    Supervisor process that spawns and monitors child processes.
+
+    Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
+    it only launches the real process as a child and restarts it when the child
+    exits with RESTART_EXIT_CODE.
+    """
+    child_argv = [sys.executable] + _build_child_argv()
+    restart_count = 0
+
+    print_status(
+        f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
+        f"child command: {' '.join(child_argv)}",
+        "info",
+    )
+
+    while True:
+        print_status(
+            f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
+            "info",
+        )
+
+        try:
+            process = subprocess.Popen(child_argv)
+            exit_code = process.wait()
+        except KeyboardInterrupt:
+            print_status("[Supervisor] Interrupted, terminating child process...", "info")
+            process.terminate()
+            try:
+                process.wait(timeout=10)
+            except subprocess.TimeoutExpired:
+                process.kill()
+                process.wait()
+            sys.exit(1)
+
+        if exit_code == RESTART_EXIT_CODE:
+            restart_count += 1
+            if restart_count > max_restarts:
+                print_status(
+                    f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
+                    "warning",
+                )
+                sys.exit(1)
+            print_status(
+                f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
+                "info",
+            )
+            time.sleep(2)
+        else:
+            if exit_code != 0:
+                print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
+            else:
+                print_status("[Supervisor] Child exited normally", "info")
+            sys.exit(exit_code)
+
 
 def load_config_from_file(config_path):
     if config_path is None:
@@ -65,6 +145,13 @@ def parse_args():
         action="append",
         help="Path to the registry directory",
     )
+    parser.add_argument(
+        "--devices",
+        type=str,
+        default=None,
+        action="append",
+        help="Path to Python code directory for AST-based device/resource scanning",
+    )
     parser.add_argument(
         "--working_dir",
         type=str,
@@ -154,18 +241,18 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="Complete registry information",
-    )
     parser.add_argument(
         "--check_mode",
         action="store_true",
         default=False,
         help="Run in check mode for CI: validates registry imports and ensures no file changes",
     )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="Complete and rewrite YAML registry files using AST analysis results",
+    )
     parser.add_argument(
         "--no_update_feedback",
         action="store_true",
@@ -177,6 +264,30 @@ def parse_args():
         default=False,
         help="Test mode: all actions simulate execution and return mock results without running real hardware",
     )
+    parser.add_argument(
+        "--external_devices_only",
+        action="store_true",
+        default=False,
+        help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
+    )
+    parser.add_argument(
+        "--extra_resource",
+        action="store_true",
+        default=False,
+        help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
+    )
+    parser.add_argument(
+        "--restart_mode",
+        action="store_true",
+        default=False,
+        help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
+    )
+    parser.add_argument(
+        "--auto_restart_count",
+        type=int,
+        default=500,
+        help="Maximum number of automatic restarts in restart mode (default: 500)",
+    )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
         "workflow_upload",
@@ -227,16 +338,28 @@ def main():
     args = parser.parse_args()
     args_dict = vars(args)
 
+    # Supervisor mode: spawn child processes and monitor for restart
+    if args_dict.get("restart_mode", False):
+        _run_as_supervisor(args_dict.get("auto_restart_count", 5))
+        return
+
     # 环境检查 - 检查并自动安装必需的包 (可选)
     skip_env_check = args_dict.get("skip_env_check", False)
     check_mode = args_dict.get("check_mode", False)
 
     if not skip_env_check:
-        from unilabos.utils.environment_check import check_environment
+        from unilabos.utils.environment_check import check_environment, check_device_package_requirements
 
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
+
+        # 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
+        devices_dirs_for_req = args_dict.get("devices", None)
+        if devices_dirs_for_req:
+            if not check_device_package_requirements(devices_dirs_for_req):
+                print_status("设备包依赖检查失败，程序退出", "error")
+                os._exit(1)
     else:
         print_status("跳过环境依赖检查", "warning")
 
@@ -357,46 +480,63 @@ def main():
     BasicConfig.test_mode = args_dict.get("test_mode", False)
     if BasicConfig.test_mode:
         print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
+    BasicConfig.extra_resource = args_dict.get("extra_resource", False)
+    if BasicConfig.extra_resource:
+        print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
     BasicConfig.communication_protocol = "websocket"
-    machine_name = os.popen("hostname").read().strip()
+    machine_name = platform.node()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]
     BasicConfig.check_mode = check_mode
 
-    from unilabos.resources.graphio import (
-        read_node_link_json,
-        read_graphml,
-        dict_from_graph,
-    )
-    from unilabos.app.communication import get_communication_client
     from unilabos.registry.registry import build_registry
-    from unilabos.app.backend import start_backend
-    from unilabos.app.web import http_client
-    from unilabos.app.web import start_server
-    from unilabos.app.register import register_devices_and_resources
-    from unilabos.resources.graphio import modify_to_backend_format
-    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
-    # 注册表 - check_mode 时强制启用 complete_registry
+    # Step 0: AST 分析优先 + YAML 注册表加载
+    # check_mode 和 upload_registry 都会执行实际 import 验证
+    devices_dirs = args_dict.get("devices", None)
     complete_registry = args_dict.get("complete_registry", False) or check_mode
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+    external_only = args_dict.get("external_devices_only", False)
+    lab_registry = build_registry(
+        registry_paths=args_dict["registry_path"],
+        devices_dirs=devices_dirs,
+        upload_registry=BasicConfig.upload_registry,
+        check_mode=check_mode,
+        complete_registry=complete_registry,
+        external_only=external_only,
+    )
 
-    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
+    # Check mode: 注册表验证完成后直接退出
     if check_mode:
-        print_status("Check mode: complete_registry 完成，退出", "info")
+        device_count = len(lab_registry.device_type_registry)
+        resource_count = len(lab_registry.resource_type_registry)
+        print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
         os._exit(0)
 
+    # 以下导入依赖 ROS2 环境，check_mode 已退出不需要
+    from unilabos.resources.graphio import (
+        read_node_link_json,
+        read_graphml,
+        dict_from_graph,
+        modify_to_backend_format,
+    )
+    from unilabos.app.communication import get_communication_client
+    from unilabos.app.backend import start_backend
+    from unilabos.app.web import http_client
+    from unilabos.app.web import start_server
+    from unilabos.app.register import register_devices_and_resources
+    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
+
+    # Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
     if BasicConfig.upload_registry:
-        # 设备注册到服务端 - 需要 ak 和 sk
         if BasicConfig.ak and BasicConfig.sk:
-            print_status("开始注册设备到服务端...", "info")
+            # print_status("开始注册设备到服务端...", "info")
             try:
                 register_devices_and_resources(lab_registry)
-                print_status("设备注册完成", "info")
+                # print_status("设备注册完成", "info")
             except Exception as e:
                 print_status(f"设备注册失败: {e}", "error")
         else:
@@ -413,8 +553,13 @@ def main():
         os._exit(0)
 
     if not BasicConfig.ak or not BasicConfig.sk:
-        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
-        os._exit(1)
+        if BasicConfig.test_mode:
+            print_status("测试模式：跳过 ak/sk 检查，使用占位凭据", "warning")
+            BasicConfig.ak = BasicConfig.ak or "test_ak"
+            BasicConfig.sk = BasicConfig.sk or "test_sk"
+        else:
+            print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+            os._exit(1)
     graph: nx.Graph
     resource_tree_set: ResourceTreeSet
     resource_links: List[Dict[str, Any]]
@@ -481,12 +626,16 @@ def main():
             continue
 
     # 如果从远端获取了物料信息，则与本地物料进行同步
-    if request_startup_json and "nodes" in request_startup_json:
+    if file_path is not None and request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
         remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
         resource_tree_set.merge_remote_resources(remote_tree_set)
         print_status("远端物料同步完成", "info")
 
+    # 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
+    # TODO: 当 community device package 功能上线后，在这里调用
+    #   install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
+
     # 使用 ResourceTreeSet 代替 list
     args_dict["resources_config"] = resource_tree_set
     args_dict["devices_config"] = resource_tree_set
@@ -578,6 +727,10 @@ def main():
             open_browser=not args_dict["disable_browser"],
             port=BasicConfig.port,
         )
+        if restart_requested:
+            print_status("[Main] Restart requested, cleaning up...", "info")
+            cleanup_for_restart()
+            os._exit(RESTART_EXIT_CODE)
 
 
 if __name__ == "__main__":

unilabos/app/register.py

@@ -1,9 +1,8 @@
-import json
 import time
-from typing import Optional, Tuple, Dict, Any
+from typing import Any, Dict, Optional, Tuple
 
 from unilabos.utils.log import logger
-from unilabos.utils.type_check import TypeEncoder
+from unilabos.utils.tools import normalize_json as _normalize_device
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -11,50 +10,63 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
     注册设备和资源到服务器（仅支持HTTP）
     """
 
-    # 注册资源信息 - 使用HTTP方式
     from unilabos.app.web.client import http_client
 
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
-    # 注册设备信息
     devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = json.loads(
-            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
-        )
-        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
+        devices_to_register[device_info["id"]] = _normalize_device(device_info)
+        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
 
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
         resources_to_register[resource_info["id"]] = resource_info
-        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
     if gather_only:
         return devices_to_register, resources_to_register
-    # 注册设备
+
     if devices_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
+            response = http_client.resource_registry(
+                {"resources": list(devices_to_register.values())},
+                tag="device_registry",
+            )
             cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
+            res_data = response.json() if response.status_code == 200 else {}
+            skipped = res_data.get("data", {}).get("skipped", False)
+            if skipped:
+                logger.info(
+                    f"[UniLab Register] 设备注册跳过（内容未变化）"
+                    f" {len(devices_to_register)} 个 {cost_time:.3f}s"
+                )
+            elif response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
-    # 注册资源
     if resources_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
+            response = http_client.resource_registry(
+                {"resources": list(resources_to_register.values())},
+                tag="resource_registry",
+            )
             cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
+            res_data = response.json() if response.status_code == 200 else {}
+            skipped = res_data.get("data", {}).get("skipped", False)
+            if skipped:
+                logger.info(
+                    f"[UniLab Register] 资源注册跳过（内容未变化）"
+                    f" {len(resources_to_register)} 个 {cost_time:.3f}s"
+                )
+            elif response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
-
-    logger.info("[UniLab Register] 设备和资源注册完成.")

unilabos/app/web/api.py

@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
                                 "result": {},
                                 "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
                                 "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": [],
+                                "handles": {},
                             }
                             # 不生成已配置action的动作
                             for k, v in enhanced_info["action_methods"].items()
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
     # 启动广播任务
     @app.on_event("startup")
     async def startup_event():
-        asyncio.create_task(broadcast_device_status())
-        asyncio.create_task(broadcast_status_page_data())
+        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
+        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")

unilabos/app/web/client.py

@@ -3,11 +3,13 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-
+import gzip
 import json
 import os
 from typing import List, Dict, Any, Optional
 
+from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
+
 import requests
 from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
@@ -280,22 +282,54 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
+    def resource_registry(
+        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
+    ) -> requests.Response:
         """
-        注册资源到服务器
+        注册资源到服务器，同步保存请求/响应到 unilabos_data
 
         Args:
             registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
+            tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
 
         Returns:
             Response: API响应对象
         """
+        # 序列化一次，同时用于保存和发送
+        json_bytes = _fast_dumps(registry_data)
+
+        # 保存请求数据到 unilabos_data
+        req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
+        try:
+            os.makedirs(BasicConfig.working_dir, exist_ok=True)
+            with open(req_path, "wb") as f:
+                f.write(_fast_dumps_pretty(registry_data))
+            logger.trace(f"注册表请求数据已保存: {req_path}")
+        except Exception as e:
+            logger.warning(f"保存注册表请求数据失败: {e}")
+
+        compressed_body = gzip.compress(json_bytes)
+        headers = {
+            "Authorization": f"Lab {self.auth}",
+            "Content-Type": "application/json",
+            "Content-Encoding": "gzip",
+        }
         response = requests.post(
             f"{self.remote_addr}/lab/resource",
-            json=registry_data,
-            headers={"Authorization": f"Lab {self.auth}"},
+            data=compressed_body,
+            headers=headers,
             timeout=30,
         )
+
+        # 保存响应数据到 unilabos_data
+        res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
+        try:
+            with open(res_path, "w", encoding="utf-8") as f:
+                f.write(f"{response.status_code}\n{response.text}")
+            logger.trace(f"注册表响应数据已保存: {res_path}")
+        except Exception as e:
+            logger.warning(f"保存注册表响应数据失败: {e}")
+
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
         if response.status_code == 200:

unilabos/app/web/server.py

@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
     # 设置页面路由
     try:
         setup_web_pages(pages)
-        info("[Web] 已加载Web UI模块")
+        # info("[Web] 已加载Web UI模块")
     except ImportError as e:
         info(f"[Web] 未找到Web页面模块: {str(e)}")
     except Exception as e:
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
     server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
     server_thread.start()
 
-    info("[Web] Server started, monitoring for restart requests...")
+    # info("[Web] Server started, monitoring for restart requests...")
 
     # 监控重启标志
     import unilabos.app.main as main_module

unilabos/app/ws_client.py

@@ -26,6 +26,7 @@ from enum import Enum
 from typing_extensions import TypedDict
 
 from unilabos.app.model import JobAddReq
+from unilabos.resources.resource_tracker import ResourceDictType
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.app.communication import BaseCommunicationClient
@@ -408,6 +409,7 @@ class MessageProcessor:
         # 线程控制
         self.is_running = False
         self.thread = None
+        self._loop = None  # asyncio event loop引用，用于外部关闭websocket
         self.reconnect_count = 0
 
         logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
@@ -434,22 +436,31 @@ class MessageProcessor:
     def stop(self) -> None:
         """停止消息处理线程"""
         self.is_running = False
+        # 主动关闭websocket以快速中断消息接收循环
+        ws = self.websocket
+        loop = self._loop
+        if ws and loop and loop.is_running():
+            try:
+                asyncio.run_coroutine_threadsafe(ws.close(), loop)
+            except Exception:
+                pass
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[MessageProcessor] Stopped")
 
     def _run(self):
         """运行消息处理主循环"""
-        loop = asyncio.new_event_loop()
+        self._loop = asyncio.new_event_loop()
         try:
-            asyncio.set_event_loop(loop)
-            loop.run_until_complete(self._connection_handler())
+            asyncio.set_event_loop(self._loop)
+            self._loop.run_until_complete(self._connection_handler())
         except Exception as e:
             logger.error(f"[MessageProcessor] Thread error: {str(e)}")
             logger.error(traceback.format_exc())
         finally:
-            if loop:
-                loop.close()
+            if self._loop:
+                self._loop.close()
+            self._loop = None
 
     async def _connection_handler(self):
         """处理WebSocket连接和重连逻辑"""
@@ -466,8 +477,10 @@ class MessageProcessor:
                 async with websockets.connect(
                     self.websocket_url,
                     ssl=ssl_context,
+                    open_timeout=20,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
+                    close_timeout=5,
                     additional_headers={
                         "Authorization": f"Lab {BasicConfig.auth_secret()}",
                         "EdgeSession": f"{self.session_id}",
@@ -478,81 +491,94 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
 
                     # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler())
+                    send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
+
+                    # 每次连接（含重连）后重新向服务端注册，
+                    # 否则服务端不知道客户端已上线，不会推送消息。
+                    if self.websocket_client:
+                        self.websocket_client.publish_host_ready()
 
                     try:
                         # 接收消息循环
                         await self._message_handler()
                     finally:
+                        # 必须在 async with __aexit__ 之前停止 send_task，
+                        # 否则 send_task 会在关闭握手期间继续发送数据，
+                        # 干扰 websockets 库的内部清理，导致 task 泄漏。
+                        self.connected = False
                         send_task.cancel()
                         try:
                             await send_task
                         except asyncio.CancelledError:
                             pass
-                        self.connected = False
 
             except websockets.exceptions.ConnectionClosed:
-                logger.warning("[MessageProcessor] Connection closed")
-                self.connected = False
+                logger.warning("[MessageProcessor] 与服务端连接中断")
+            except TimeoutError:
+                logger.warning(
+                    f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
+                )
+            except websockets.exceptions.InvalidStatus as e:
+                logger.warning(
+                    f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
+                )
             except Exception as e:
-                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
                 logger.error(traceback.format_exc())
-                self.connected = False
+                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
             finally:
+                self.connected = False
                 self.websocket = None
 
             # 重连逻辑
-            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if not self.is_running:
+                break
+            if self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
+                backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
-                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(WSConfig.reconnect_interval)
-            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
+                await asyncio.sleep(backoff)
+            else:
                 logger.error("[MessageProcessor] Max reconnection attempts reached")
                 break
-            else:
-                self.reconnect_count -= 1
 
     async def _message_handler(self):
-        """处理接收到的消息"""
+        """处理接收到的消息。
+
+        ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
+        以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
+        正确清理内部 task，避免 task 泄漏。
+        """
         if not self.websocket:
             logger.error("[MessageProcessor] WebSocket connection is None")
             return
 
-        try:
-            async for message in self.websocket:
-                try:
-                    data = json.loads(message)
-                    message_type = data.get("action", "")
-                    message_data = data.get("data")
-                    if self.session_id and self.session_id == data.get("edge_session"):
-                        await self._process_message(message_type, message_data)
+        async for message in self.websocket:
+            try:
+                data = json.loads(message)
+                message_type = data.get("action", "")
+                message_data = data.get("data")
+                if self.session_id and self.session_id == data.get("edge_session"):
+                    await self._process_message(message_type, message_data)
+                else:
+                    if message_type.endswith("_material"):
+                        logger.trace(
+                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
+                        )
+                        logger.debug(
+                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
+                        )
                     else:
-                        if message_type.endswith("_material"):
-                            logger.trace(
-                                f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
-                            )
-                            logger.debug(
-                                f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
-                            )
-                        else:
-                            await self._process_message(message_type, message_data)
-                except json.JSONDecodeError:
-                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-                except Exception as e:
-                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                    logger.error(traceback.format_exc())
-
-        except websockets.exceptions.ConnectionClosed:
-            logger.info("[MessageProcessor] Message handler stopped - connection closed")
-        except Exception as e:
-            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
-            logger.error(traceback.format_exc())
+                        await self._process_message(message_type, message_data)
+            except json.JSONDecodeError:
+                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
+                logger.error(traceback.format_exc())
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
@@ -601,6 +627,7 @@ class MessageProcessor:
 
         except asyncio.CancelledError:
             logger.debug("[MessageProcessor] Send handler cancelled")
+            raise
         except Exception as e:
             logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
             logger.error(traceback.format_exc())
@@ -632,6 +659,10 @@ class MessageProcessor:
             # elif message_type == "session_id":
             #     self.session_id = message_data.get("session_id")
             #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+            elif message_type == "add_device":
+                await self._handle_device_manage(message_data, "add")
+            elif message_type == "remove_device":
+                await self._handle_device_manage(message_data, "remove")
             elif message_type == "request_restart":
                 await self._handle_request_restart(message_data)
             else:
@@ -723,6 +754,32 @@ class MessageProcessor:
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
+
+            # 服务端对always_free动作可能跳过query_action_state直接发job_start，
+            # 此时job尚未注册，需要自动补注册
+            existing_job = self.device_manager.get_job_info(req.job_id)
+            if not existing_job:
+                action_name = req.action
+                device_action_key = f"/devices/{req.device_id}/{action_name}"
+                action_always_free = self._check_action_always_free(req.device_id, action_name)
+
+                if action_always_free:
+                    job_info = JobInfo(
+                        job_id=req.job_id,
+                        task_id=req.task_id,
+                        device_id=req.device_id,
+                        action_name=action_name,
+                        device_action_key=device_action_key,
+                        status=JobStatus.QUEUE,
+                        start_time=time.time(),
+                        always_free=True,
+                    )
+                    self.device_manager.add_queue_request(job_info)
+                    logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
+                else:
+                    logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
+                    return
+
             success = self.device_manager.start_job(req.job_id)
             if not success:
                 logger.error(f"[MessageProcessor] Failed to start job {job_log}")
@@ -968,6 +1025,37 @@ class MessageProcessor:
             )
             thread.start()
 
+    async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
+        """Handle add_device / remove_device from LabGo server."""
+        if not device_list:
+            return
+
+        for item in device_list:
+            target_node_id = item.get("target_node_id", "host_node")
+
+            def _notify(target_id: str, act: str, cfg: ResourceDictType):
+                try:
+                    host_node = HostNode.get_instance(timeout=5)
+                    if not host_node:
+                        logger.error(f"[DeviceManage] HostNode not available for {act}_device")
+                        return
+                    success = host_node.notify_device_manage(target_id, act, cfg)
+                    if success:
+                        logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
+                    else:
+                        logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
+                except Exception as e:
+                    logger.error(f"[DeviceManage] Error in {act}_device: {e}")
+                    logger.error(traceback.format_exc())
+
+            thread = threading.Thread(
+                target=_notify,
+                args=(target_node_id, action, item),
+                daemon=True,
+                name=f"DeviceManage-{action}-{item.get('id', '')}",
+            )
+            thread.start()
+
     async def _handle_request_restart(self, data: Dict[str, Any]):
         """
         处理重启请求
@@ -979,10 +1067,9 @@ class MessageProcessor:
         logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
 
         # 发送确认消息
-        if self.websocket_client:
-            await self.websocket_client.send_message(
-                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-            )
+        self.send_message(
+            {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+        )
 
         # 设置全局重启标志
         import unilabos.app.main as main_module
@@ -1084,6 +1171,7 @@ class QueueProcessor:
     def stop(self) -> None:
         """停止队列处理线程"""
         self.is_running = False
+        self.queue_update_event.set()  # 立即唤醒等待中的线程
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[QueueProcessor] Stopped")
@@ -1184,6 +1272,11 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
+            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
+            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
+            if job_info.status != JobStatus.QUEUE:
+                continue
+
             message = {
                 "action": "report_action_state",
                 "data": {
@@ -1332,8 +1425,8 @@ class WebSocketClient(BaseCommunicationClient):
                 message = {"action": "normal_exit", "data": {"session_id": session_id}}
                 self.message_processor.send_message(message)
                 logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
-                # 给一点时间让消息发送出去
-                time.sleep(1)
+                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
+                time.sleep(0.3)
             except Exception as e:
                 logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
 

unilabos/compile/__init__.py

@@ -5,6 +5,7 @@ from .separate_protocol import generate_separate_protocol
 from .evaporate_protocol import generate_evaporate_protocol
 from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
 from .agv_transfer_protocol import generate_agv_transfer_protocol
+from .batch_transfer_protocol import generate_batch_transfer_protocol
 from .add_protocol import generate_add_protocol
 from .centrifuge_protocol import generate_centrifuge_protocol
 from .filter_protocol import generate_filter_protocol
@@ -31,6 +32,7 @@ from .hydrogenate_protocol import generate_hydrogenate_protocol
 action_protocol_generators = {
     AddProtocol: generate_add_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
+    BatchTransferProtocol: generate_batch_transfer_protocol,
     AdjustPHProtocol: generate_adjust_ph_protocol,
     CentrifugeProtocol: generate_centrifuge_protocol,
     CleanProtocol: generate_clean_protocol,

unilabos/compile/_agv_utils.py

@@ -0,0 +1,127 @@
+"""
+AGV 编译器共用工具函数
+
+从 physical_setup_graph 中发现 AGV 节点配置，
+供 agv_transfer_protocol 和 batch_transfer_protocol 复用。
+"""
+
+from typing import Any, Dict, List, Optional
+
+import networkx as nx
+
+
+def find_agv_config(G: nx.Graph, agv_id: Optional[str] = None) -> Dict[str, Any]:
+    """从设备图中发现 AGV 节点，返回其配置
+
+    查找策略：
+    1. 如果指定 agv_id，直接读取该节点
+    2. 否则查找 class 为 "agv_transport_station" 的节点
+    3. 兜底查找 config 中包含 device_roles 的 workstation 节点
+
+    Returns:
+        {
+            "agv_id": str,
+            "device_roles": {"navigator": "...", "arm": "..."},
+            "route_table": {"A->B": {"nav_command": ..., "arm_pick": ..., "arm_place": ...}},
+            "capacity": int,
+        }
+    """
+    if agv_id and agv_id in G.nodes:
+        node_data = G.nodes[agv_id]
+        config = _extract_config(node_data)
+        if config and "device_roles" in config:
+            return _build_agv_cfg(agv_id, config, G)
+
+    # 查找 agv_transport_station 类型
+    for nid, ndata in G.nodes(data=True):
+        node_class = _get_node_class(ndata)
+        if node_class == "agv_transport_station":
+            config = _extract_config(ndata)
+            return _build_agv_cfg(nid, config or {}, G)
+
+    # 兜底：查找带有 device_roles 的 workstation
+    for nid, ndata in G.nodes(data=True):
+        node_class = _get_node_class(ndata)
+        if node_class == "workstation":
+            config = _extract_config(ndata)
+            if config and "device_roles" in config:
+                return _build_agv_cfg(nid, config, G)
+
+    raise ValueError("设备图中未找到 AGV 节点（需 class=agv_transport_station 或 config.device_roles）")
+
+
+def get_agv_capacity(G: nx.Graph, agv_id: str) -> int:
+    """从 AGV 的 Warehouse 子节点计算载具容量"""
+    for neighbor in G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id):
+        ndata = G.nodes[neighbor]
+        node_type = _get_node_type(ndata)
+        if node_type == "warehouse":
+            config = _extract_config(ndata)
+            if config:
+                x = config.get("num_items_x", 1)
+                y = config.get("num_items_y", 1)
+                z = config.get("num_items_z", 1)
+                return x * y * z
+    # 如果没有 warehouse 子节点，尝试从配置中读取
+    return 0
+
+
+def split_batches(items: list, capacity: int) -> List[list]:
+    """按 AGV 容量分批
+
+    Args:
+        items: 待转运的物料列表
+        capacity: AGV 单批次容量
+
+    Returns:
+        分批后的列表的列表
+    """
+    if capacity <= 0:
+        raise ValueError(f"AGV 容量必须 > 0，当前: {capacity}")
+    return [items[i:i + capacity] for i in range(0, len(items), capacity)]
+
+
+def _extract_config(node_data: dict) -> Optional[dict]:
+    """从节点数据中提取 config 字段，兼容多种格式"""
+    # 直接 config 字段
+    config = node_data.get("config")
+    if isinstance(config, dict):
+        return config
+    # res_content 嵌套格式
+    res_content = node_data.get("res_content")
+    if hasattr(res_content, "config"):
+        return res_content.config if isinstance(res_content.config, dict) else None
+    if isinstance(res_content, dict):
+        return res_content.get("config")
+    return None
+
+
+def _get_node_class(node_data: dict) -> str:
+    """获取节点的 class 字段"""
+    res_content = node_data.get("res_content")
+    if hasattr(res_content, "model_dump"):
+        d = res_content.model_dump()
+        return d.get("class_", d.get("class", ""))
+    if isinstance(res_content, dict):
+        return res_content.get("class_", res_content.get("class", ""))
+    return node_data.get("class_", node_data.get("class", ""))
+
+
+def _get_node_type(node_data: dict) -> str:
+    """获取节点的 type 字段"""
+    res_content = node_data.get("res_content")
+    if hasattr(res_content, "type"):
+        return res_content.type or ""
+    if isinstance(res_content, dict):
+        return res_content.get("type", "")
+    return node_data.get("type", "")
+
+
+def _build_agv_cfg(agv_id: str, config: dict, G: nx.Graph) -> Dict[str, Any]:
+    """构建标准化的 AGV 配置"""
+    return {
+        "agv_id": agv_id,
+        "device_roles": config.get("device_roles", {}),
+        "route_table": config.get("route_table", {}),
+        "capacity": get_agv_capacity(G, agv_id),
+    }

unilabos/compile/add_protocol.py

@@ -2,20 +2,13 @@ from functools import partial
 
 import networkx as nx
 import re
-import logging
 from typing import List, Dict, Any, Union
 
 from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
 from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
-from .utils.logger_util import action_log
+from .utils.logger_util import action_log, debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
-logger = logging.getLogger(__name__)
-
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[ADD] {message}")
-
 
 # 🆕 创建进度日志动作
 create_action_log = partial(action_log, prefix="[ADD]")

unilabos/compile/adjustph_protocol.py

@@ -1,14 +1,12 @@
+from functools import partial
+
 import networkx as nx
-import logging
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel
+from .utils.vessel_parser import get_vessel, find_connected_stirrer
+from .utils.logger_util import action_log, debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
-logger = logging.getLogger(__name__)
-
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[ADJUST_PH] {message}")
+create_action_log = partial(action_log, prefix="[ADJUST_PH]")
 
 def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     """
@@ -21,8 +19,6 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     Returns:
         str: 试剂容器ID
     """
-    debug_print(f"🔍 正在查找试剂 '{reagent}' 的容器...")
-    
     # 常见酸碱试剂的别名映射
     reagent_aliases = {
         "hydrochloric acid": ["HCl", "hydrochloric_acid", "hcl", "muriatic_acid"],
@@ -36,17 +32,13 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     
     # 构建搜索名称列表
     search_names = [reagent.lower()]
-    debug_print(f"📋 基础搜索名称: {reagent.lower()}")
-    
+
     # 添加别名
     for base_name, aliases in reagent_aliases.items():
         if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
             search_names.extend([alias.lower() for alias in aliases])
-            debug_print(f"🔗 添加别名: {aliases}")
             break
     
-    debug_print(f"📝 完整搜索列表: {search_names}")
-    
     # 构建可能的容器名称
     possible_names = []
     for name in search_names:
@@ -61,17 +53,15 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
             name_clean
         ])
     
-    debug_print(f"🎯 可能的容器名称 (前5个): {possible_names[:5]}... (共{len(possible_names)}个)")
-    
+    debug_print(f"搜索容器: {len(possible_names)} 个候选名称")
+
     # 第一步：通过容器名称匹配
-    debug_print(f"📋 方法1: 精确名称匹配...")
     for vessel_name in possible_names:
         if vessel_name in G.nodes():
-            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name} 🎯")
+            debug_print(f"通过名称匹配找到容器: {vessel_name}")
             return vessel_name
-    
+
     # 第二步：通过模糊匹配
-    debug_print(f"📋 方法2: 模糊名称匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             node_name = G.nodes[node_id].get('name', '').lower()
@@ -79,11 +69,10 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
             # 检查是否包含任何搜索名称
             for search_name in search_names:
                 if search_name in node_id.lower() or search_name in node_name:
-                    debug_print(f"✅ 通过模糊匹配找到容器: {node_id} 🔍")
+                    debug_print(f"通过模糊匹配找到容器: {node_id}")
                     return node_id
-    
+
     # 第三步：通过液体类型匹配
-    debug_print(f"📋 方法3: 液体类型匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             vessel_data = G.nodes[node_id].get('data', {})
@@ -96,56 +85,15 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
                     
                     for search_name in search_names:
                         if search_name in liquid_type or search_name in reagent_name:
-                            debug_print(f"✅ 通过液体类型匹配找到容器: {node_id} 💧")
+                            debug_print(f"通过液体类型匹配找到容器: {node_id}")
                             return node_id
     
     # 列出可用容器帮助调试
-    debug_print(f"📊 列出可用容器帮助调试...")
-    available_containers = []
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
-                           for liquid in liquids if isinstance(liquid, dict)]
-            
-            available_containers.append({
-                'id': node_id,
-                'name': G.nodes[node_id].get('name', ''),
-                'liquids': liquid_types,
-                'reagent_name': vessel_data.get('reagent_name', '')
-            })
-    
-    debug_print(f"📋 可用容器列表:")
-    for container in available_containers:
-        debug_print(f"  - 🧪 {container['id']}: {container['name']}")
-        debug_print(f"    💧 液体: {container['liquids']}")
-        debug_print(f"    🏷️ 试剂: {container['reagent_name']}")
-    
-    debug_print(f"❌ 所有匹配方法都失败了")
+    available_containers = [node_id for node_id in G.nodes()
+                           if G.nodes[node_id].get('type') == 'container']
+    debug_print(f"所有匹配方法失败，可用容器: {available_containers}")
     raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names[:10]}...")
 
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
-    """查找与容器相连的搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
-    
-    stirrer_nodes = [node for node in G.nodes() 
-                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
-    
-    debug_print(f"📊 发现 {len(stirrer_nodes)} 个搅拌器: {stirrer_nodes}")
-    
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
-            return stirrer
-    
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
-        return stirrer_nodes[0]
-    
-    debug_print(f"❌ 未找到任何搅拌器")
-    return None
-
 def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:
     """
     估算需要的试剂体积来调节pH
@@ -158,44 +106,30 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume
     Returns:
         float: 估算的试剂体积 (mL)
     """
-    debug_print(f"🧮 计算试剂体积...")
-    debug_print(f"  📍 目标pH: {target_ph_value}")
-    debug_print(f"  🧪 试剂: {reagent}")
-    debug_print(f"  📏 容器体积: {vessel_volume}mL")
-    
-    # 简化的pH调节体积估算（实际应用中需要更精确的计算）
+    debug_print(f"计算试剂体积: pH={target_ph_value}, reagent={reagent}, vessel={vessel_volume}mL")
+
+    # 简化的pH调节体积估算
     if "acid" in reagent.lower() or "hcl" in reagent.lower():
-        debug_print(f"🍋 检测到酸性试剂")
-        # 酸性试剂：pH越低需要的体积越大
         if target_ph_value < 3:
-            volume = vessel_volume * 0.05  # 5%
-            debug_print(f"  💪 强酸性 (pH<3): 使用 5% 体积")
+            volume = vessel_volume * 0.05
         elif target_ph_value < 5:
-            volume = vessel_volume * 0.02  # 2%
-            debug_print(f"  🔸 中酸性 (pH<5): 使用 2% 体积")
+            volume = vessel_volume * 0.02
         else:
-            volume = vessel_volume * 0.01  # 1%
-            debug_print(f"  🔹 弱酸性 (pH≥5): 使用 1% 体积")
-    
+            volume = vessel_volume * 0.01
+
     elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
-        debug_print(f"🧂 检测到碱性试剂")
-        # 碱性试剂：pH越高需要的体积越大
         if target_ph_value > 11:
-            volume = vessel_volume * 0.05  # 5%
-            debug_print(f"  💪 强碱性 (pH>11): 使用 5% 体积")
+            volume = vessel_volume * 0.05
         elif target_ph_value > 9:
-            volume = vessel_volume * 0.02  # 2%
-            debug_print(f"  🔸 中碱性 (pH>9): 使用 2% 体积")
+            volume = vessel_volume * 0.02
         else:
-            volume = vessel_volume * 0.01  # 1%
-            debug_print(f"  🔹 弱碱性 (pH≤9): 使用 1% 体积")
-    
+            volume = vessel_volume * 0.01
+
     else:
         # 未知试剂，使用默认值
         volume = vessel_volume * 0.01
-        debug_print(f"❓ 未知试剂类型，使用默认 1% 体积")
-    
-    debug_print(f"📊 计算结果: {volume:.2f}mL")
+
+    debug_print(f"估算试剂体积: {volume:.2f}mL")
     return volume
 
 def generate_adjust_ph_protocol(
@@ -220,96 +154,67 @@ def generate_adjust_ph_protocol(
     """
     
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     if not vessel_id:
-        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
         raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
-    
-    debug_print("=" * 60)
-    debug_print("🧪 开始生成pH调节协议")
-    debug_print(f"📋 原始参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  📊 ph_value: {ph_value}")
-    debug_print(f"  🧪 reagent: '{reagent}'")
-    debug_print(f"  📦 kwargs: {kwargs}")
-    debug_print("=" * 60)
-    
+
+    debug_print(f"pH调节协议: vessel={vessel_id}, ph={ph_value}, reagent='{reagent}'")
+
     action_sequence = []
-    
-    # 从kwargs中获取可选参数，如果没有则使用默认值
-    volume = kwargs.get('volume', 0.0)           # 自动估算体积
-    stir = kwargs.get('stir', True)              # 默认搅拌
-    stir_speed = kwargs.get('stir_speed', 300.0) # 默认搅拌速度
-    stir_time = kwargs.get('stir_time', 60.0)    # 默认搅拌时间
-    settling_time = kwargs.get('settling_time', 30.0)  # 默认平衡时间
-    
-    debug_print(f"🔧 处理后的参数:")
-    debug_print(f"  📏 volume: {volume}mL (0.0表示自动估算)")
-    debug_print(f"  🌪️ stir: {stir}")
-    debug_print(f"  🔄 stir_speed: {stir_speed}rpm")
-    debug_print(f"  ⏱️ stir_time: {stir_time}s")
-    debug_print(f"  ⏳ settling_time: {settling_time}s")
-    
+
+    # 从kwargs中获取可选参数
+    volume = kwargs.get('volume', 0.0)
+    stir = kwargs.get('stir', True)
+    stir_speed = kwargs.get('stir_speed', 300.0)
+    stir_time = kwargs.get('stir_time', 60.0)
+    settling_time = kwargs.get('settling_time', 30.0)
+
     # 开始处理
     action_sequence.append(create_action_log(f"开始调节pH至 {ph_value}", "🧪"))
     action_sequence.append(create_action_log(f"目标容器: {vessel_id}", "🥼"))
     action_sequence.append(create_action_log(f"使用试剂: {reagent}", "⚗️"))
-    
+
     # 1. 验证目标容器存在
-    debug_print(f"🔍 步骤1: 验证目标容器...")
     if vessel_id not in G.nodes():
-        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中")
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-    
-    debug_print(f"✅ 目标容器验证通过")
+
     action_sequence.append(create_action_log("目标容器验证通过", "✅"))
-    
+
     # 2. 查找酸碱试剂容器
-    debug_print(f"🔍 步骤2: 查找试剂容器...")
     action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
     
     try:
         reagent_vessel = find_acid_base_vessel(G, reagent)
-        debug_print(f"✅ 找到试剂容器: {reagent_vessel}")
         action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
     except ValueError as e:
-        debug_print(f"❌ 无法找到试剂容器: {str(e)}")
         action_sequence.append(create_action_log(f"试剂容器查找失败: {str(e)}", "❌"))
         raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
-    
+
     # 3. 体积估算
-    debug_print(f"🔍 步骤3: 体积处理...")
     if volume <= 0:
         action_sequence.append(create_action_log("开始自动估算试剂体积", "🧮"))
         
         # 获取目标容器的体积信息
         vessel_data = G.nodes[vessel_id].get('data', {})
-        vessel_volume = vessel_data.get('max_volume', 100.0)  # 默认100mL
-        debug_print(f"📏 容器最大体积: {vessel_volume}mL")
-        
+        vessel_volume = vessel_data.get('max_volume', 100.0)
+
         estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)
         volume = estimated_volume
-        debug_print(f"✅ 自动估算试剂体积: {volume:.2f} mL")
         action_sequence.append(create_action_log(f"估算试剂体积: {volume:.2f}mL", "📊"))
     else:
-        debug_print(f"📏 使用指定体积: {volume}mL")
         action_sequence.append(create_action_log(f"使用指定体积: {volume}mL", "📏"))
-    
+
     # 4. 验证路径存在
-    debug_print(f"🔍 步骤4: 路径验证...")
     action_sequence.append(create_action_log("验证转移路径...", "🛤️"))
     
     try:
         path = nx.shortest_path(G, source=reagent_vessel, target=vessel_id)
-        debug_print(f"✅ 找到路径: {' → '.join(path)}")
-        action_sequence.append(create_action_log(f"找到转移路径: {' → '.join(path)}", "🛤️"))
+        action_sequence.append(create_action_log(f"找到转移路径: {' -> '.join(path)}", "🛤️"))
     except nx.NetworkXNoPath:
-        debug_print(f"❌ 无法找到转移路径")
         action_sequence.append(create_action_log("转移路径不存在", "❌"))
         raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-    
+
     # 5. 搅拌器设置
-    debug_print(f"🔍 步骤5: 搅拌器设置...")
     stirrer_id = None
     if stir:
         action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
@@ -318,7 +223,6 @@ def generate_adjust_ph_protocol(
             stirrer_id = find_connected_stirrer(G, vessel_id)
             
             if stirrer_id:
-                debug_print(f"✅ 找到搅拌器 {stirrer_id}，启动搅拌")
                 action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🔄"))
                 
                 action_sequence.append({
@@ -338,23 +242,18 @@ def generate_adjust_ph_protocol(
                     "action_kwargs": {"time": 5}
                 })
             else:
-                debug_print(f"⚠️ 未找到搅拌器，继续执行")
                 action_sequence.append(create_action_log("未找到搅拌器，跳过搅拌", "⚠️"))
-        
+
         except Exception as e:
-            debug_print(f"❌ 搅拌器配置出错: {str(e)}")
             action_sequence.append(create_action_log(f"搅拌器配置失败: {str(e)}", "❌"))
     else:
-        debug_print(f"📋 跳过搅拌设置")
         action_sequence.append(create_action_log("跳过搅拌设置", "⏭️"))
-    
+
     # 6. 试剂添加
-    debug_print(f"🔍 步骤6: 试剂添加...")
     action_sequence.append(create_action_log(f"开始添加试剂 {volume:.2f}mL", "🚰"))
     
     # 计算添加时间（pH调节需要缓慢添加）
-    addition_time = max(30.0, volume * 2.0)  # 至少30秒，每mL需要2秒
-    debug_print(f"⏱️ 计算添加时间: {addition_time}s (缓慢注入)")
+    addition_time = max(30.0, volume * 2.0)
     action_sequence.append(create_action_log(f"设置添加时间: {addition_time:.0f}s (缓慢注入)", "⏱️"))
     
     try:
@@ -377,35 +276,28 @@ def generate_adjust_ph_protocol(
         )
         
         action_sequence.extend(pump_actions)
-        debug_print(f"✅ 泵协议生成完成，添加了 {len(pump_actions)} 个动作")
         action_sequence.append(create_action_log(f"试剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-        
-        # 🔧 修复体积运算 - 试剂添加成功后更新容器液体体积
-        debug_print(f"🔧 更新容器液体体积...")
+
+        # 体积运算 - 试剂添加成功后更新容器液体体积
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
-            debug_print(f"📊 添加前容器体积: {current_volume}")
-            
+
             # 处理不同的体积数据格式
             if isinstance(current_volume, list):
                 if len(current_volume) > 0:
                     # 增加体积（添加试剂）
                     vessel["data"]["liquid_volume"][0] += volume
-                    debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
                 else:
                     # 如果列表为空，创建新的体积记录
                     vessel["data"]["liquid_volume"] = [volume]
-                    debug_print(f"📊 初始化容器体积: {volume:.2f}mL")
             elif isinstance(current_volume, (int, float)):
                 # 直接数值类型
                 vessel["data"]["liquid_volume"] += volume
-                debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
             else:
-                debug_print(f"⚠️ 未知的体积数据格式: {type(current_volume)}")
+                debug_print(f"未知的体积数据格式: {type(current_volume)}")
                 # 创建新的体积记录
                 vessel["data"]["liquid_volume"] = volume
         else:
-            debug_print(f"📊 容器无液体体积数据，创建新记录: {volume:.2f}mL")
             # 确保vessel有data字段
             if "data" not in vessel:
                 vessel["data"] = {}
@@ -423,19 +315,16 @@ def generate_adjust_ph_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
-                
-            debug_print(f"✅ 图节点体积数据已更新")
-        
+
         action_sequence.append(create_action_log(f"容器体积已更新 (+{volume:.2f}mL)", "📊"))
         
     except Exception as e:
-        debug_print(f"❌ 生成泵协议时出错: {str(e)}")
+        debug_print(f"生成泵协议时出错: {str(e)}")
         action_sequence.append(create_action_log(f"泵协议生成失败: {str(e)}", "❌"))
         raise ValueError(f"生成泵协议时出错: {str(e)}")
     
     # 7. 混合搅拌
     if stir and stirrer_id:
-        debug_print(f"🔍 步骤7: 混合搅拌...")
         action_sequence.append(create_action_log(f"开始混合搅拌 {stir_time:.0f}s", "🌀"))
         
         action_sequence.append({
@@ -448,14 +337,10 @@ def generate_adjust_ph_protocol(
                 "purpose": f"pH调节: 混合试剂，目标pH={ph_value}"
             }
         })
-        
-        debug_print(f"✅ 混合搅拌设置完成")
     else:
-        debug_print(f"⏭️ 跳过混合搅拌")
         action_sequence.append(create_action_log("跳过混合搅拌", "⏭️"))
-    
+
     # 8. 等待平衡
-    debug_print(f"🔍 步骤8: 反应平衡...")
     action_sequence.append(create_action_log(f"等待pH平衡 {settling_time:.0f}s", "⚖️"))
     
     action_sequence.append({
@@ -468,17 +353,7 @@ def generate_adjust_ph_protocol(
     
     # 9. 完成总结
     total_time = addition_time + stir_time + settling_time
-    
-    debug_print("=" * 60)
-    debug_print(f"🎉 pH调节协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f}分钟)")
-    debug_print(f"  🧪 试剂: {reagent}")
-    debug_print(f"  📏 体积: {volume:.2f}mL")
-    debug_print(f"  📊 目标pH: {ph_value}")
-    debug_print(f"  🥼 目标容器: {vessel_id}")
-    debug_print("=" * 60)
+    debug_print(f"pH调节协议完成: {len(action_sequence)} 个动作, {total_time:.0f}s, {volume:.2f}mL {reagent} → {vessel_id} pH {ph_value}")
     
     # 添加完成日志
     summary_msg = f"pH调节协议完成: {vessel_id} → pH {ph_value} (使用 {volume:.2f}mL {reagent})"
@@ -510,28 +385,18 @@ def generate_adjust_ph_protocol_stepwise(
     """
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id = vessel["id"]
-    
-    debug_print("=" * 60)
-    debug_print(f"🔄 开始分步pH调节")
-    debug_print(f"📋 分步参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  📊 ph_value: {ph_value}")
-    debug_print(f"  🧪 reagent: {reagent}")
-    debug_print(f"  📏 max_volume: {max_volume}mL")
-    debug_print(f"  🔢 steps: {steps}")
-    debug_print("=" * 60)
+
+    debug_print(f"分步pH调节: vessel={vessel_id}, ph={ph_value}, reagent={reagent}, max_volume={max_volume}mL, steps={steps}")
     
     action_sequence = []
     
     # 每步添加的体积
     step_volume = max_volume / steps
-    debug_print(f"📊 每步体积: {step_volume:.2f}mL")
     
     action_sequence.append(create_action_log(f"开始分步pH调节 ({steps}步)", "🔄"))
     action_sequence.append(create_action_log(f"每步添加: {step_volume:.2f}mL", "📏"))
     
     for i in range(steps):
-        debug_print(f"🔄 执行第 {i+1}/{steps} 步，添加 {step_volume:.2f}mL")
         action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步开始", "🚀"))
         
         # 生成单步协议
@@ -548,12 +413,10 @@ def generate_adjust_ph_protocol_stepwise(
         )
         
         action_sequence.extend(step_actions)
-        debug_print(f"✅ 第 {i+1}/{steps} 步完成，添加了 {len(step_actions)} 个动作")
         action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步完成", "✅"))
         
         # 步骤间等待
         if i < steps - 1:
-            debug_print(f"⏳ 步骤间等待30s")
             action_sequence.append(create_action_log("步骤间等待...", "⏳"))
             action_sequence.append({
                 "action_name": "wait",
@@ -563,7 +426,7 @@ def generate_adjust_ph_protocol_stepwise(
                 }
             })
     
-    debug_print(f"🎉 分步pH调节完成，共 {len(action_sequence)} 个动作")
+    debug_print(f"分步pH调节完成: {len(action_sequence)} 个动作")
     action_sequence.append(create_action_log("分步pH调节全部完成", "🎉"))
     
     return action_sequence
@@ -577,7 +440,7 @@ def generate_acidify_protocol(
 ) -> List[Dict[str, Any]]:
     """酸化协议"""
     vessel_id = vessel["id"]
-    debug_print(f"🍋 生成酸化协议: {vessel_id} → pH {target_ph} (使用 {acid})")
+    debug_print(f"酸化协议: {vessel_id} → pH {target_ph} ({acid})")
     return generate_adjust_ph_protocol(
         G, vessel, target_ph, acid
     )
@@ -590,7 +453,7 @@ def generate_basify_protocol(
 ) -> List[Dict[str, Any]]:
     """碱化协议"""
     vessel_id = vessel["id"]
-    debug_print(f"🧂 生成碱化协议: {vessel_id} → pH {target_ph} (使用 {base})")
+    debug_print(f"碱化协议: {vessel_id} → pH {target_ph} ({base})")
     return generate_adjust_ph_protocol(
         G, vessel, target_ph, base
     )
@@ -602,7 +465,7 @@ def generate_neutralize_protocol(
 ) -> List[Dict[str, Any]]:
     """中和协议（pH=7）"""
     vessel_id = vessel["id"]
-    debug_print(f"⚖️ 生成中和协议: {vessel_id} → pH 7.0 (使用 {reagent})")
+    debug_print(f"中和协议: {vessel_id} → pH 7.0 ({reagent})")
     return generate_adjust_ph_protocol(
         G, vessel, 7.0, reagent
     )
@@ -610,10 +473,7 @@ def generate_neutralize_protocol(
 # 测试函数
 def test_adjust_ph_protocol():
     """测试pH调节协议"""
-    debug_print("=== ADJUST PH PROTOCOL 增强版测试 ===")
-    
     # 测试体积计算
-    debug_print("🧮 测试体积计算...")
     test_cases = [
         (2.0, "hydrochloric acid", 100.0),
         (4.0, "hydrochloric acid", 100.0),
@@ -621,12 +481,12 @@ def test_adjust_ph_protocol():
         (10.0, "sodium hydroxide", 100.0),
         (7.0, "unknown reagent", 100.0)
     ]
-    
+
     for ph, reagent, volume in test_cases:
         result = calculate_reagent_volume(ph, reagent, volume)
-        debug_print(f"📊 {reagent} → pH {ph}: {result:.2f}mL")
-    
-    debug_print("✅ 测试完成")
+        debug_print(f"{reagent} → pH {ph}: {result:.2f}mL")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
     test_adjust_ph_protocol()

unilabos/compile/agv_transfer_protocol.py

@@ -1,4 +1,12 @@
+"""
+AGV 单物料转运编译器
+
+从 physical_setup_graph 中查询 AGV 配置（device_roles, route_table），
+不再硬编码 device_id 和路由表。
+"""
+
 import networkx as nx
+from unilabos.compile._agv_utils import find_agv_config
 
 
 def generate_agv_transfer_protocol(
@@ -17,37 +25,32 @@ def generate_agv_transfer_protocol(
     from_repo_id = from_repo_["id"]
     to_repo_id = to_repo_["id"]
 
-    wf_list = {
-        ("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
-                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
-        ("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
-                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
+    # 从 G 中查询 AGV 配置
+    agv_cfg = find_agv_config(G)
+    device_roles = agv_cfg["device_roles"]
+    route_table = agv_cfg["route_table"]
 
-        ("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
-                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
+    route_key = f"{from_repo_id}->{to_repo_id}"
+    if route_key not in route_table:
+        raise KeyError(f"AGV 路由表中未找到路线: {route_key}，可用路线: {list(route_table.keys())}")
 
-        ("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
-                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
+    route = route_table[route_key]
+    nav_device = device_roles.get("navigator", device_roles.get("nav"))
+    arm_device = device_roles.get("arm")
 
-        ("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
-                              "arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
-
-        ("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
-                              "arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
-    }
     return [
         {
-            "device_id": "zhixing_agv",
+            "device_id": nav_device,
             "action_name": "send_nav_task",
             "action_kwargs": {
-                "command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
+                "command": route["nav_command"]
             }
         },
         {
-            "device_id": "zhixing_ur_arm",
+            "device_id": arm_device,
             "action_name": "move_pos_task",
             "action_kwargs": {
-                "command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
+                "command": route.get("arm_command", route.get("arm_place", ""))
             }
         }
     ]

unilabos/compile/batch_transfer_protocol.py

@@ -0,0 +1,228 @@
+"""
+批量物料转运编译器
+
+将 BatchTransferProtocol 编译为多批次的 nav → pick × N → nav → place × N 动作序列。
+自动按 AGV 容量分批，全程维护三方 children dict 的物料系统一致性。
+"""
+
+import copy
+from typing import Any, Dict, List
+
+import networkx as nx
+
+from unilabos.compile._agv_utils import find_agv_config, split_batches
+
+
+def generate_batch_transfer_protocol(
+    G: nx.Graph,
+    from_repo: dict,
+    to_repo: dict,
+    transfer_resources: list,
+    from_positions: list,
+    to_positions: list,
+) -> List[Dict[str, Any]]:
+    """编译批量转运协议为可执行的 action steps
+
+    Args:
+        G: 设备图 (physical_setup_graph)
+        from_repo: 来源工站资源 dict（{station_id: {..., children: {...}}}）
+        to_repo: 目标工站资源 dict（含堆栈和位置信息）
+        transfer_resources: 被转运的物料列表（Resource dict）
+        from_positions: 来源 slot 位置列表（与 transfer_resources 平行）
+        to_positions: 目标 slot 位置列表（与 transfer_resources 平行）
+
+    Returns:
+        action steps 列表，ROS2WorkstationNode 按序执行
+    """
+    if not transfer_resources:
+        return []
+
+    n = len(transfer_resources)
+    if len(from_positions) != n or len(to_positions) != n:
+        raise ValueError(
+            f"transfer_resources({n}), from_positions({len(from_positions)}), "
+            f"to_positions({len(to_positions)}) 长度不一致"
+        )
+
+    # 组合为内部 transfer_items 便于分批处理
+    transfer_items = []
+    for i in range(n):
+        res = transfer_resources[i] if isinstance(transfer_resources[i], dict) else {}
+        transfer_items.append({
+            "resource_id": res.get("id", res.get("name", "")),
+            "resource_uuid": res.get("sample_id", ""),
+            "from_position": from_positions[i],
+            "to_position": to_positions[i],
+            "resource": res,
+        })
+
+    # 查询 AGV 配置
+    agv_cfg = find_agv_config(G)
+    agv_id = agv_cfg["agv_id"]
+    device_roles = agv_cfg["device_roles"]
+    route_table = agv_cfg["route_table"]
+    capacity = agv_cfg["capacity"]
+
+    if capacity <= 0:
+        raise ValueError(f"AGV {agv_id} 容量为 0，请检查 Warehouse 子节点配置")
+
+    nav_device = device_roles.get("navigator", device_roles.get("nav"))
+    arm_device = device_roles.get("arm")
+    if not nav_device or not arm_device:
+        raise ValueError(f"AGV {agv_id} device_roles 缺少 navigator 或 arm: {device_roles}")
+
+    from_repo_ = list(from_repo.values())[0]
+    to_repo_ = list(to_repo.values())[0]
+    from_station_id = from_repo_["id"]
+    to_station_id = to_repo_["id"]
+
+    # 查找路由
+    route_to_source = _find_route(route_table, agv_id, from_station_id)
+    route_to_target = _find_route(route_table, from_station_id, to_station_id)
+
+    # 构建 AGV carrier 的 children dict（用于 compile 阶段状态追踪）
+    agv_carrier_children: Dict[str, Any] = {}
+
+    # 计算 slot 名称（A01, A02, B01, ...）
+    agv_slot_names = _get_agv_slot_names(G, agv_cfg)
+
+    # 分批
+    batches = split_batches(transfer_items, capacity)
+
+    steps: List[Dict[str, Any]] = []
+
+    for batch_idx, batch in enumerate(batches):
+        is_last_batch = (batch_idx == len(batches) - 1)
+
+        # 阶段 1: AGV 导航到来源工站
+        steps.append({
+            "device_id": nav_device,
+            "action_name": "send_nav_task",
+            "action_kwargs": {
+                "command": route_to_source.get("nav_command", "")
+            },
+            "_comment": f"批次{batch_idx + 1}/{len(batches)}: AGV 导航至来源 {from_station_id}"
+        })
+
+        # 阶段 2: 逐个 pick
+        for item_idx, item in enumerate(batch):
+            from_pos = item["from_position"]
+            slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
+
+            # compile 阶段更新 children dict
+            if from_pos in from_repo_.get("children", {}):
+                resource_data = from_repo_["children"].pop(from_pos)
+                resource_data["parent"] = agv_id
+                agv_carrier_children[slot] = resource_data
+
+            steps.append({
+                "device_id": arm_device,
+                "action_name": "move_pos_task",
+                "action_kwargs": {
+                    "command": route_to_source.get("arm_pick", route_to_source.get("arm_command", ""))
+                },
+                "_transfer_meta": {
+                    "phase": "pick",
+                    "resource_uuid": item.get("resource_uuid", ""),
+                    "resource_id": item.get("resource_id", ""),
+                    "from_parent": from_station_id,
+                    "from_position": from_pos,
+                    "agv_slot": slot,
+                },
+                "_comment": f"Pick {item.get('resource_id', from_pos)} → AGV.{slot}"
+            })
+
+        # 阶段 3: AGV 导航到目标工站
+        steps.append({
+            "device_id": nav_device,
+            "action_name": "send_nav_task",
+            "action_kwargs": {
+                "command": route_to_target.get("nav_command", "")
+            },
+            "_comment": f"批次{batch_idx + 1}: AGV 导航至目标 {to_station_id}"
+        })
+
+        # 阶段 4: 逐个 place
+        for item_idx, item in enumerate(batch):
+            to_pos = item["to_position"]
+            slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
+
+            # compile 阶段更新 children dict
+            if slot in agv_carrier_children:
+                resource_data = agv_carrier_children.pop(slot)
+                resource_data["parent"] = to_repo_["id"]
+                to_repo_["children"][to_pos] = resource_data
+
+            steps.append({
+                "device_id": arm_device,
+                "action_name": "move_pos_task",
+                "action_kwargs": {
+                    "command": route_to_target.get("arm_place", route_to_target.get("arm_command", ""))
+                },
+                "_transfer_meta": {
+                    "phase": "place",
+                    "resource_uuid": item.get("resource_uuid", ""),
+                    "resource_id": item.get("resource_id", ""),
+                    "to_parent": to_station_id,
+                    "to_position": to_pos,
+                    "agv_slot": slot,
+                },
+                "_comment": f"Place AGV.{slot} → {to_station_id}.{to_pos}"
+            })
+
+        # 如果还有下一批，AGV 需要返回来源取料
+        if not is_last_batch:
+            steps.append({
+                "device_id": nav_device,
+                "action_name": "send_nav_task",
+                "action_kwargs": {
+                    "command": route_to_source.get("nav_command", "")
+                },
+                "_comment": f"AGV 返回来源 {from_station_id} 取下一批"
+            })
+
+    return steps
+
+
+def _find_route(route_table: Dict[str, Any], from_id: str, to_id: str) -> Dict[str, str]:
+    """在路由表中查找路线，支持 A->B 和 (A, B) 两种 key 格式"""
+    # 优先 "A->B" 格式
+    key = f"{from_id}->{to_id}"
+    if key in route_table:
+        return route_table[key]
+    # 兼容 tuple key（JSON 中以逗号分隔字符串表示）
+    tuple_key = f"({from_id}, {to_id})"
+    if tuple_key in route_table:
+        return route_table[tuple_key]
+    raise KeyError(f"路由表中未找到: {key}，可用路线: {list(route_table.keys())}")
+
+
+def _get_agv_slot_names(G: nx.Graph, agv_cfg: dict) -> List[str]:
+    """从设备图中获取 AGV Warehouse 的 slot 名称列表"""
+    agv_id = agv_cfg["agv_id"]
+    neighbors = G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id)
+    for neighbor in neighbors:
+        ndata = G.nodes[neighbor]
+        node_type = ndata.get("type", "")
+        res_content = ndata.get("res_content")
+        if hasattr(res_content, "type"):
+            node_type = res_content.type or node_type
+        elif isinstance(res_content, dict):
+            node_type = res_content.get("type", node_type)
+        if node_type == "warehouse":
+            config = ndata.get("config", {})
+            if hasattr(res_content, "config") and isinstance(res_content.config, dict):
+                config = res_content.config
+            elif isinstance(res_content, dict):
+                config = res_content.get("config", config)
+            num_x = config.get("num_items_x", 1)
+            num_y = config.get("num_items_y", 1)
+            num_z = config.get("num_items_z", 1)
+            # 与 warehouse_factory 一致的命名
+            letters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+            len_x = num_x if num_z == 1 else (num_y if num_x == 1 else num_x)
+            len_y = num_y if num_z == 1 else (num_z if num_x == 1 else num_z)
+            return [f"{letters[j]}{i + 1:02d}" for i in range(len_x) for j in range(len_y)]
+    # 兜底生成通用名称
+    capacity = agv_cfg.get("capacity", 4)
+    return [f"S{i + 1}" for i in range(capacity)]

unilabos/compile/clean_vessel_protocol.py

@@ -1,7 +1,9 @@
 from typing import List, Dict, Any
 import networkx as nx
-from .utils.vessel_parser import get_vessel, find_solvent_vessel
+from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill
+from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol
+from .utils.resource_helper import get_resource_liquid_volume
 
 
 def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
@@ -17,43 +19,23 @@ def find_waste_vessel(G: nx.DiGraph) -> str:
     """
     possible_waste_names = [
         "waste_workup",
-        "flask_waste", 
+        "flask_waste",
         "bottle_waste",
         "waste",
         "waste_vessel",
         "waste_container"
     ]
-    
+
     for waste_name in possible_waste_names:
         if waste_name in G.nodes():
             return waste_name
-    
+
     raise ValueError(f"未找到废液容器。尝试了以下名称: {possible_waste_names}")
 
 
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """
-    查找与指定容器相连的加热冷却设备
-    """
-    # 查找所有加热冷却设备节点
-    heatchill_nodes = [node for node in G.nodes() 
-                      if (G.nodes[node].get('class') or '') == 'virtual_heatchill']
-    
-    # 检查哪个加热设备与目标容器相连（机械连接）
-    for heatchill in heatchill_nodes:
-        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-            return heatchill
-    
-    # 如果没有直接连接，返回第一个可用的加热设备
-    if heatchill_nodes:
-        return heatchill_nodes[0]
-    
-    return None  # 没有加热设备也可以工作，只是不能加热
-
-
 def generate_clean_vessel_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel: dict,
     solvent: str,
     volume: float,
     temp: float,
@@ -61,7 +43,7 @@ def generate_clean_vessel_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成容器清洗操作的协议序列，复用 pump_protocol 的成熟算法
-    
+
     清洗流程：
     1. 查找溶剂容器和废液容器
     2. 如果需要加热，启动加热设备
@@ -70,63 +52,50 @@ def generate_clean_vessel_protocol(
        b. (可选) 等待清洗作用时间
        c. 使用 pump_protocol 将清洗液从目标容器转移到废液容器
     4. 如果加热了，停止加热
-    
+
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         vessel: 要清洗的容器字典（包含id字段）
-        solvent: 用于清洗的溶剂名称  
+        solvent: 用于清洗的溶剂名称
         volume: 每次清洗使用的溶剂体积
         temp: 清洗时的温度
         repeats: 清洗操作的重复次数，默认为 1
-    
+
     Returns:
         List[Dict[str, Any]]: 容器清洗操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到必要的容器或设备时抛出异常
-    
-    Examples:
-        clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
-    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     action_sequence = []
-    
-    print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
-    print(f"  - 目标容器: {vessel} (ID: {vessel_id})")
-    print(f"  - 清洗溶剂: {solvent}")
-    print(f"  - 清洗体积: {volume} mL")
-    print(f"  - 清洗温度: {temp}°C")
-    print(f"  - 重复次数: {repeats}")
-    
+
+    debug_print(f"开始生成容器清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}mL, temp={temp}°C, repeats={repeats}")
+
     # 验证目标容器存在
     if vessel_id not in G.nodes():
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-    
+
     # 查找溶剂容器
     try:
         solvent_vessel = find_solvent_vessel(G, solvent)
-        print(f"CLEAN_VESSEL: 找到溶剂容器: {solvent_vessel}")
+        debug_print(f"找到溶剂容器: {solvent_vessel}")
     except ValueError as e:
         raise ValueError(f"无法找到溶剂容器: {str(e)}")
-    
+
     # 查找废液容器
     try:
         waste_vessel = find_waste_vessel(G)
-        print(f"CLEAN_VESSEL: 找到废液容器: {waste_vessel}")
+        debug_print(f"找到废液容器: {waste_vessel}")
     except ValueError as e:
         raise ValueError(f"无法找到废液容器: {str(e)}")
-    
+
     # 查找加热设备（可选）
-    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+    heatchill_id = find_connected_heatchill(G, vessel_id)
     if heatchill_id:
-        print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
+        debug_print(f"找到加热设备: {heatchill_id}")
     else:
-        print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
-    
-    # 🔧 新增：记录清洗前的容器状态
-    print(f"CLEAN_VESSEL: 记录清洗前容器状态...")
+        debug_print(f"未找到加热设备，将在室温下清洗")
+
+    # 记录清洗前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -134,79 +103,69 @@ def generate_clean_vessel_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    print(f"CLEAN_VESSEL: 清洗前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # 第一步：如果需要加热且有加热设备，启动加热
     if temp > 25.0 and heatchill_id:
-        print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
+        debug_print(f"启动加热至 {temp}°C")
         heatchill_start_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
         }
         action_sequence.append(heatchill_start_action)
-        
-        # 等待温度稳定
+
         wait_action = {
-            "action_name": "wait", 
-            "action_kwargs": {"time": 30}  # 等待30秒让温度稳定
+            "action_name": "wait",
+            "action_kwargs": {"time": 30}
         }
         action_sequence.append(wait_action)
-    
+
     # 第二步：重复清洗操作
     for repeat in range(repeats):
-        print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
-        
+        debug_print(f"执行第 {repeat + 1}/{repeats} 次清洗")
+
         # 2a. 使用 pump_protocol 将溶剂转移到目标容器
-        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel_id}")
         try:
-            # 调用成熟的 pump_protocol 算法
             add_solvent_actions = generate_pump_protocol(
                 G=G,
                 from_vessel=solvent_vessel,
-                to_vessel=vessel_id,  # 🔧 使用 vessel_id
+                to_vessel=vessel_id,
                 volume=volume,
-                flowrate=2.5,  # 适中的流速，避免飞溅
+                flowrate=2.5,
                 transfer_flowrate=2.5
             )
             action_sequence.extend(add_solvent_actions)
-            
-            # 🔧 新增：更新容器体积（添加清洗溶剂）
-            print(f"CLEAN_VESSEL: 更新容器体积 - 添加清洗溶剂 {volume:.2f}mL")
+
+            # 更新容器体积（添加清洗溶剂）
             if "data" not in vessel:
                 vessel["data"] = {}
-            
+
             if "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     if len(current_volume) > 0:
                         vessel["data"]["liquid_volume"][0] += volume
-                        print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = [volume]
-                        print(f"CLEAN_VESSEL: 初始化清洗体积: {volume:.2f}mL")
                 elif isinstance(current_volume, (int, float)):
                     vessel["data"]["liquid_volume"] += volume
-                    print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
                 else:
                     vessel["data"]["liquid_volume"] = volume
-                    print(f"CLEAN_VESSEL: 重置体积为: {volume:.2f}mL")
             else:
                 vessel["data"]["liquid_volume"] = volume
-                print(f"CLEAN_VESSEL: 创建新体积记录: {volume:.2f}mL")
-            
-            # 🔧 同时更新图中的容器数据
+
+            # 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
-                
+
                 vessel_node_data = G.nodes[vessel_id]['data']
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-                
+
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
@@ -214,58 +173,48 @@ def generate_clean_vessel_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
-                
-                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
-            
+
         except Exception as e:
             raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
-        
-        # 2b. 等待清洗作用时间（让溶剂充分清洗容器）
-        cleaning_wait_time = 60 if temp > 50.0 else 30  # 高温下等待更久
-        print(f"CLEAN_VESSEL: 等待清洗作用 {cleaning_wait_time} 秒")
+
+        # 2b. 等待清洗作用时间
+        cleaning_wait_time = 60 if temp > 50.0 else 30
         wait_action = {
-            "action_name": "wait", 
+            "action_name": "wait",
             "action_kwargs": {"time": cleaning_wait_time}
         }
         action_sequence.append(wait_action)
-        
+
         # 2c. 使用 pump_protocol 将清洗液转移到废液容器
-        print(f"CLEAN_VESSEL: 将清洗液从 {vessel_id} 转移到废液容器")
         try:
-            # 调用成熟的 pump_protocol 算法
             remove_waste_actions = generate_pump_protocol(
                 G=G,
-                from_vessel=vessel_id,  # 🔧 使用 vessel_id
+                from_vessel=vessel_id,
                 to_vessel=waste_vessel,
                 volume=volume,
-                flowrate=2.5,  # 适中的流速
+                flowrate=2.5,
                 transfer_flowrate=2.5
             )
             action_sequence.extend(remove_waste_actions)
-            
-            # 🔧 新增：更新容器体积（移除清洗液）
-            print(f"CLEAN_VESSEL: 更新容器体积 - 移除清洗液 {volume:.2f}mL")
+
+            # 更新容器体积（移除清洗液）
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     if len(current_volume) > 0:
                         vessel["data"]["liquid_volume"][0] = max(0.0, vessel["data"]["liquid_volume"][0] - volume)
-                        print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (-{volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = [0.0]
-                        print(f"CLEAN_VESSEL: 重置体积为0mL")
                 elif isinstance(current_volume, (int, float)):
                     vessel["data"]["liquid_volume"] = max(0.0, current_volume - volume)
-                    print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume']:.2f}mL (-{volume:.2f}mL)")
                 else:
                     vessel["data"]["liquid_volume"] = 0.0
-                    print(f"CLEAN_VESSEL: 重置体积为0mL")
-            
-            # 🔧 同时更新图中的容器数据
+
+            # 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 vessel_node_data = G.nodes[vessel_id].get('data', {})
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-                
+
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] = max(0.0, current_node_volume[0] - volume)
@@ -273,34 +222,30 @@ def generate_clean_vessel_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [0.0]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = max(0.0, current_node_volume - volume)
-                
-                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
-            
+
         except Exception as e:
             raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
-        
+
         # 2d. 清洗循环间的短暂等待
-        if repeat < repeats - 1:  # 不是最后一次清洗
-            print(f"CLEAN_VESSEL: 清洗循环间等待")
+        if repeat < repeats - 1:
             wait_action = {
-                "action_name": "wait", 
+                "action_name": "wait",
                 "action_kwargs": {"time": 10}
             }
             action_sequence.append(wait_action)
-    
+
     # 第三步：如果加热了，停止加热
     if temp > 25.0 and heatchill_id:
-        print(f"CLEAN_VESSEL: 停止加热")
         heatchill_stop_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
             }
         }
         action_sequence.append(heatchill_stop_action)
-    
-    # 🔧 新增：清洗完成后的状态报告
+
+    # 清洗完成后的状态
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -308,20 +253,17 @@ def generate_clean_vessel_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-    
-    print(f"CLEAN_VESSEL: 清洗完成")
-    print(f"  - 清洗前体积: {original_liquid_volume:.2f}mL")
-    print(f"  - 清洗后体积: {final_liquid_volume:.2f}mL")
-    print(f"  - 生成了 {len(action_sequence)} 个动作")
-    
+
+    debug_print(f"清洗完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
+
     return action_sequence
 
 
-# 便捷函数：常用清洗方案
+# 便捷函数
 def generate_quick_clean_protocol(
-    G: nx.DiGraph, 
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    solvent: str = "water", 
+    G: nx.DiGraph,
+    vessel: dict,
+    solvent: str = "water",
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """快速清洗：室温，单次清洗"""
@@ -329,9 +271,9 @@ def generate_quick_clean_protocol(
 
 
 def generate_thorough_clean_protocol(
-    G: nx.DiGraph, 
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    solvent: str = "water", 
+    G: nx.DiGraph,
+    vessel: dict,
+    solvent: str = "water",
     volume: float = 150.0,
     temp: float = 60.0
 ) -> List[Dict[str, Any]]:
@@ -340,13 +282,13 @@ def generate_thorough_clean_protocol(
 
 
 def generate_organic_clean_protocol(
-    G: nx.DiGraph, 
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    G: nx.DiGraph,
+    vessel: dict,
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """有机清洗：先用有机溶剂，再用水清洗"""
     action_sequence = []
-    
+
     # 第一步：有机溶剂清洗
     try:
         organic_actions = generate_clean_vessel_protocol(
@@ -354,96 +296,71 @@ def generate_organic_clean_protocol(
         )
         action_sequence.extend(organic_actions)
     except ValueError:
-        # 如果没有丙酮，尝试乙醇
         try:
             organic_actions = generate_clean_vessel_protocol(
                 G, vessel, "ethanol", volume, 25.0, 2
             )
             action_sequence.extend(organic_actions)
         except ValueError:
-            print("警告：未找到有机溶剂，跳过有机清洗步骤")
-    
+            debug_print("未找到有机溶剂，跳过有机清洗步骤")
+
     # 第二步：水清洗
     water_actions = generate_clean_vessel_protocol(
         G, vessel, "water", volume, 25.0, 2
     )
     action_sequence.extend(water_actions)
-    
+
     return action_sequence
 
 
-def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
-    """获取容器中的液体体积（修复版）"""
-    if vessel not in G.nodes():
-        return 0.0
-    
-    vessel_data = G.nodes[vessel].get('data', {})
-    liquids = vessel_data.get('liquid', [])
-    
-    total_volume = 0.0
-    for liquid in liquids:
-        if isinstance(liquid, dict):
-            # 支持两种格式：新格式 (name, volume) 和旧格式 (liquid_type, liquid_volume)
-            volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
-            total_volume += volume
-    
-    return total_volume
-
-
 def get_vessel_liquid_types(G: nx.DiGraph, vessel: str) -> List[str]:
     """获取容器中所有液体的类型"""
     if vessel not in G.nodes():
         return []
-    
+
     vessel_data = G.nodes[vessel].get('data', {})
     liquids = vessel_data.get('liquid', [])
-    
+
     liquid_types = []
     for liquid in liquids:
         if isinstance(liquid, dict):
-            # 支持两种格式的液体类型字段
             liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
             if liquid_type:
                 liquid_types.append(liquid_type)
-    
+
     return liquid_types
 
 
 def find_vessel_by_content(G: nx.DiGraph, content: str) -> List[str]:
     """
     根据内容物查找所有匹配的容器
-    返回匹配容器的ID列表
     """
     matching_vessels = []
-    
+
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
-            # 检查容器名称匹配
             node_name = G.nodes[node_id].get('name', '').lower()
             if content.lower() in node_id.lower() or content.lower() in node_name:
                 matching_vessels.append(node_id)
                 continue
-            
-            # 检查液体类型匹配
+
             vessel_data = G.nodes[node_id].get('data', {})
             liquids = vessel_data.get('liquid', [])
             config_data = G.nodes[node_id].get('config', {})
-            
-            # 检查 reagent_name 和 config.reagent
+
             reagent_name = vessel_data.get('reagent_name', '').lower()
             config_reagent = config_data.get('reagent', '').lower()
-            
-            if (content.lower() == reagent_name or 
+
+            if (content.lower() == reagent_name or
                 content.lower() == config_reagent):
                 matching_vessels.append(node_id)
                 continue
-            
-            # 检查液体列表
+
             for liquid in liquids:
                 if isinstance(liquid, dict):
                     liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
                     if liquid_type.lower() == content.lower():
                         matching_vessels.append(node_id)
                         break
-    
-    return matching_vessels
+
+    return matching_vessels

unilabos/compile/dissolve_protocol.py

@@ -1,402 +1,19 @@
 from functools import partial
 
 import networkx as nx
-import re
 import logging
 from typing import List, Dict, Any, Union
 
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
+from .utils.logger_util import debug_print, action_log
+from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input, parse_temperature_input
+from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill, find_connected_stirrer, find_solid_dispenser
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[DISSOLVE] {message}")
-
-# 🆕 创建进度日志动作
+# 创建进度日志动作
 create_action_log = partial(action_log, prefix="[DISSOLVE]")
 
-def parse_volume_input(volume_input: Union[str, float]) -> float:
-    """
-    解析体积输入，支持带单位的字符串
-    
-    Args:
-        volume_input: 体积输入（如 "10 mL", "?", 10.0）
-    
-    Returns:
-        float: 体积（毫升）
-    """
-    if isinstance(volume_input, (int, float)):
-        debug_print(f"📏 体积输入为数值: {volume_input}")
-        return float(volume_input)
-    
-    if not volume_input or not str(volume_input).strip():
-        debug_print(f"⚠️ 体积输入为空，返回0.0mL")
-        return 0.0
-    
-    volume_str = str(volume_input).lower().strip()
-    debug_print(f"🔍 解析体积输入: '{volume_str}'")
-    
-    # 处理未知体积
-    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_volume = 50.0  # 默认50mL
-        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
-        return default_volume
-    
-    # 移除空格并提取数字和单位
-    volume_clean = re.sub(r'\s+', '', volume_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值50mL")
-        return 50.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'ml'  # 默认单位为毫升
-    
-    # 转换为毫升
-    if unit in ['l', 'liter']:
-        volume = value * 1000.0  # L -> mL
-        debug_print(f"🔄 体积转换: {value}L → {volume}mL")
-    elif unit in ['μl', 'ul', 'microliter']:
-        volume = value / 1000.0  # μL -> mL
-        debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
-    else:  # ml, milliliter 或默认
-        volume = value  # 已经是mL
-        debug_print(f"✅ 体积已为mL: {volume}mL")
-    
-    return volume
-
-def parse_mass_input(mass_input: Union[str, float]) -> float:
-    """
-    解析质量输入，支持带单位的字符串
-    
-    Args:
-        mass_input: 质量输入（如 "2.9 g", "?", 2.5）
-    
-    Returns:
-        float: 质量（克）
-    """
-    if isinstance(mass_input, (int, float)):
-        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
-        return float(mass_input)
-    
-    if not mass_input or not str(mass_input).strip():
-        debug_print(f"⚠️ 质量输入为空，返回0.0g")
-        return 0.0
-    
-    mass_str = str(mass_input).lower().strip()
-    debug_print(f"🔍 解析质量输入: '{mass_str}'")
-    
-    # 处理未知质量
-    if mass_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_mass = 1.0  # 默认1g
-        debug_print(f"❓ 检测到未知质量，使用默认值: {default_mass}g 🎯")
-        return default_mass
-    
-    # 移除空格并提取数字和单位
-    mass_clean = re.sub(r'\s+', '', mass_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
-        return 0.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'g'  # 默认单位为克
-    
-    # 转换为克
-    if unit in ['mg', 'milligram']:
-        mass = value / 1000.0  # mg -> g
-        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
-    elif unit in ['kg', 'kilogram']:
-        mass = value * 1000.0  # kg -> g
-        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
-    else:  # g, gram 或默认
-        mass = value  # 已经是g
-        debug_print(f"✅ 质量已为g: {mass}g")
-    
-    return mass
-
-def parse_time_input(time_input: Union[str, float]) -> float:
-    """
-    解析时间输入，支持带单位的字符串
-    
-    Args:
-        time_input: 时间输入（如 "30 min", "1 h", "?", 60.0）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if isinstance(time_input, (int, float)):
-        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
-        return float(time_input)
-    
-    if not time_input or not str(time_input).strip():
-        debug_print(f"⚠️ 时间输入为空，返回0秒")
-        return 0.0
-    
-    time_str = str(time_input).lower().strip()
-    debug_print(f"🔍 解析时间输入: '{time_str}'")
-    
-    # 处理未知时间
-    if time_str in ['?', 'unknown', 'tbd']:
-        default_time = 600.0  # 默认10分钟
-        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (10分钟) ⏰")
-        return default_time
-    
-    # 移除空格并提取数字和单位
-    time_clean = re.sub(r'\s+', '', time_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
-        return 0.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 's'  # 默认单位为秒
-    
-    # 转换为秒
-    if unit in ['min', 'minute']:
-        time_sec = value * 60.0  # min -> s
-        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
-    elif unit in ['h', 'hr', 'hour']:
-        time_sec = value * 3600.0  # h -> s
-        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
-    elif unit in ['d', 'day']:
-        time_sec = value * 86400.0  # d -> s
-        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
-    else:  # s, sec, second 或默认
-        time_sec = value  # 已经是s
-        debug_print(f"✅ 时间已为秒: {time_sec}秒")
-    
-    return time_sec
-
-def parse_temperature_input(temp_input: Union[str, float]) -> float:
-    """
-    解析温度输入，支持带单位的字符串
-    
-    Args:
-        temp_input: 温度输入（如 "60 °C", "room temperature", "?", 25.0）
-    
-    Returns:
-        float: 温度（摄氏度）
-    """
-    if isinstance(temp_input, (int, float)):
-        debug_print(f"🌡️ 温度输入为数值: {temp_input}°C")
-        return float(temp_input)
-    
-    if not temp_input or not str(temp_input).strip():
-        debug_print(f"⚠️ 温度输入为空，使用默认室温25°C")
-        return 25.0  # 默认室温
-    
-    temp_str = str(temp_input).lower().strip()
-    debug_print(f"🔍 解析温度输入: '{temp_str}'")
-    
-    # 处理特殊温度描述
-    temp_aliases = {
-        'room temperature': 25.0,
-        'rt': 25.0,
-        'ambient': 25.0,
-        'cold': 4.0,
-        'ice': 0.0,
-        'reflux': 80.0,  # 默认回流温度
-        '?': 25.0,
-        'unknown': 25.0
-    }
-    
-    if temp_str in temp_aliases:
-        result = temp_aliases[temp_str]
-        debug_print(f"🏷️ 温度别名解析: '{temp_str}' → {result}°C")
-        return result
-    
-    # 移除空格并提取数字和单位
-    temp_clean = re.sub(r'\s+', '', temp_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(°c|c|celsius|°f|f|fahrenheit|k|kelvin)?', temp_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析温度: '{temp_str}'，使用默认值25°C")
-        return 25.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'c'  # 默认单位为摄氏度
-    
-    # 转换为摄氏度
-    if unit in ['°f', 'f', 'fahrenheit']:
-        temp_c = (value - 32) * 5/9  # F -> C
-        debug_print(f"🔄 温度转换: {value}°F → {temp_c:.1f}°C")
-    elif unit in ['k', 'kelvin']:
-        temp_c = value - 273.15  # K -> C
-        debug_print(f"🔄 温度转换: {value}K → {temp_c:.1f}°C")
-    else:  # °c, c, celsius 或默认
-        temp_c = value  # 已经是C
-        debug_print(f"✅ 温度已为°C: {temp_c}°C")
-    
-    return temp_c
-
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """增强版溶剂容器查找，支持多种匹配模式"""
-    debug_print(f"🔍 开始查找溶剂 '{solvent}' 的容器...")
-    
-    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
-    debug_print(f"📋 方法1: 搜索reagent字段...")
-    for node in G.nodes():
-        node_data = G.nodes[node].get('data', {})
-        node_type = G.nodes[node].get('type', '')
-        config_data = G.nodes[node].get('config', {})
-        
-        # 只搜索容器类型的节点
-        if node_type == 'container':
-            reagent_name = node_data.get('reagent_name', '').lower()
-            config_reagent = config_data.get('reagent', '').lower()
-            
-            # 精确匹配
-            if reagent_name == solvent.lower() or config_reagent == solvent.lower():
-                debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
-                return node
-            
-            # 模糊匹配
-            if (solvent.lower() in reagent_name and reagent_name) or \
-               (solvent.lower() in config_reagent and config_reagent):
-                debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
-                return node
-    
-    # 🔧 方法2：常见的容器命名规则
-    debug_print(f"📋 方法2: 使用命名规则查找...")
-    solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
-    possible_names = [
-        solvent_clean,
-        f"flask_{solvent_clean}",
-        f"bottle_{solvent_clean}",
-        f"vessel_{solvent_clean}",
-        f"{solvent_clean}_flask",
-        f"{solvent_clean}_bottle",
-        f"solvent_{solvent_clean}",
-        f"reagent_{solvent_clean}",
-        f"reagent_bottle_{solvent_clean}",
-        f"reagent_bottle_1",  # 通用试剂瓶
-        f"reagent_bottle_2",
-        f"reagent_bottle_3"
-    ]
-    
-    debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
-    
-    for name in possible_names:
-        if name in G.nodes():
-            node_type = G.nodes[name].get('type', '')
-            if node_type == 'container':
-                debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
-                return name
-    
-    # 🔧 方法3：节点名称模糊匹配
-    debug_print(f"📋 方法3: 节点名称模糊匹配...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if node_data.get('type') == 'container':
-            # 检查节点名称是否包含溶剂名称
-            if solvent_clean in node_id.lower():
-                debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
-                return node_id
-            
-            # 检查液体类型匹配
-            vessel_data = node_data.get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    if liquid_type.lower() == solvent.lower():
-                        debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
-                        return node_id
-    
-    # 🔧 方法4：使用第一个试剂瓶作为备选
-    debug_print(f"📋 方法4: 查找备选试剂瓶...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if (node_data.get('type') == 'container' and 
-            ('reagent' in node_id.lower() or 'bottle' in node_id.lower() or 'flask' in node_id.lower())):
-            debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
-            return node_id
-    
-    debug_print(f"❌ 所有方法都失败了，无法找到容器!")
-    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
-
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """查找连接到指定容器的加热搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的加热搅拌器...")
-    
-    heatchill_nodes = []
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'heatchill' in node_class:
-            heatchill_nodes.append(node)
-            debug_print(f"📋 发现加热搅拌器: {node}")
-    
-    debug_print(f"📊 共找到 {len(heatchill_nodes)} 个加热搅拌器")
-    
-    # 查找连接到容器的加热器
-    for heatchill in heatchill_nodes:
-        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-            debug_print(f"✅ 找到连接的加热搅拌器: {heatchill} 🔗")
-            return heatchill
-    
-    # 返回第一个加热器
-    if heatchill_nodes:
-        debug_print(f"⚠️ 未找到直接连接的加热搅拌器，使用第一个: {heatchill_nodes[0]} 🔄")
-        return heatchill_nodes[0]
-    
-    debug_print(f"❌ 未找到任何加热搅拌器")
-    return ""
-
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
-    """查找连接到指定容器的搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
-    
-    stirrer_nodes = []
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'stirrer' in node_class:
-            stirrer_nodes.append(node)
-            debug_print(f"📋 发现搅拌器: {node}")
-    
-    debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
-    
-    # 查找连接到容器的搅拌器
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
-            return stirrer
-    
-    # 返回第一个搅拌器
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
-        return stirrer_nodes[0]
-    
-    debug_print(f"❌ 未找到任何搅拌器")
-    return ""
-
-def find_solid_dispenser(G: nx.DiGraph) -> str:
-    """查找固体加样器"""
-    debug_print(f"🔍 查找固体加样器...")
-    
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'solid_dispenser' in node_class or 'dispenser' in node_class:
-            debug_print(f"✅ 找到固体加样器: {node} 🥄")
-            return node
-    
-    debug_print(f"❌ 未找到固体加样器")
-    return ""
-
 def generate_dissolve_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
@@ -436,43 +53,21 @@ def generate_dissolve_protocol(
     - mol: "0.12 mol", "16.2 mmol"
     """
     
-    # 🔧 核心修改：从字典中提取容器ID
+    # 从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
-    debug_print("=" * 60)
-    debug_print("🧪 开始生成溶解协议")
-    debug_print(f"📋 原始参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  💧 solvent: '{solvent}'")
-    debug_print(f"  📏 volume: {volume} (类型: {type(volume)})")
-    debug_print(f"  ⚖️ mass: {mass} (类型: {type(mass)})")
-    debug_print(f"  🌡️ temp: {temp} (类型: {type(temp)})")
-    debug_print(f"  ⏱️ time: {time} (类型: {type(time)})")
-    debug_print(f"  🧪 reagent: '{reagent}'")
-    debug_print(f"  🧬 mol: '{mol}'")
-    debug_print(f"  🎯 event: '{event}'")
-    debug_print(f"  📦 kwargs: {kwargs}")  # 显示额外参数
-    debug_print("=" * 60)
-    
+
+    debug_print(f"溶解协议: vessel={vessel_id}, solvent='{solvent}', volume={volume}, "
+                f"mass={mass}, temp={temp}, time={time}")
+
     action_sequence = []
-    
-    # === 参数验证 ===
-    debug_print("🔍 步骤1: 参数验证...")
-    action_sequence.append(create_action_log(f"开始溶解操作 - 容器: {vessel_id}", "🎬"))
-    
+
     if not vessel_id:
-        debug_print("❌ vessel 参数不能为空")
         raise ValueError("vessel 参数不能为空")
     
     if vessel_id not in G.nodes():
-        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
-    
-    debug_print("✅ 基本参数验证通过")
-    action_sequence.append(create_action_log("参数验证通过", "✅"))
-    
-    # 🔧 新增：记录溶解前的容器状态
-    debug_print("🔍 记录溶解前容器状态...")
+
+    # 记录溶解前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -480,30 +75,16 @@ def generate_dissolve_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    debug_print(f"📊 溶解前液体体积: {original_liquid_volume:.2f}mL")
-    
-    # === 🔧 关键修复：参数解析 ===
-    debug_print("🔍 步骤2: 参数解析...")
-    action_sequence.append(create_action_log("正在解析溶解参数...", "🔍"))
-    
-    # 解析各种参数为数值
+
+    # === 参数解析 ===
     final_volume = parse_volume_input(volume)
     final_mass = parse_mass_input(mass)
     final_temp = parse_temperature_input(temp)
     final_time = parse_time_input(time)
-    
-    debug_print(f"📊 解析结果:")
-    debug_print(f"  📏 体积: {final_volume}mL")
-    debug_print(f"  ⚖️ 质量: {final_mass}g")
-    debug_print(f"  🌡️ 温度: {final_temp}°C")
-    debug_print(f"  ⏱️ 时间: {final_time}s")
-    debug_print(f"  🧪 试剂: '{reagent}'")
-    debug_print(f"  🧬 摩尔: '{mol}'")
-    debug_print(f"  🎯 事件: '{event}'")
-    
+
+    debug_print(f"参数解析: vol={final_volume}mL, mass={final_mass}g, temp={final_temp}°C, time={final_time}s")
+
     # === 判断溶解类型 ===
-    debug_print("🔍 步骤3: 判断溶解类型...")
-    action_sequence.append(create_action_log("正在判断溶解类型...", "🔍"))
     
     # 判断是固体溶解还是液体溶解
     is_solid_dissolve = (final_mass > 0 or (mol and mol.strip() != "") or (reagent and reagent.strip() != ""))
@@ -515,49 +96,31 @@ def generate_dissolve_protocol(
         final_volume = 50.0
         if not solvent:
             solvent = "water"  # 默认溶剂
-        debug_print("⚠️ 未明确指定溶解参数，默认为50mL水溶解")
+        debug_print("未明确指定溶解参数，默认为50mL水溶解")
     
     dissolve_type = "固体溶解" if is_solid_dissolve else "液体溶解"
-    dissolve_emoji = "🧂" if is_solid_dissolve else "💧"
-    debug_print(f"📋 溶解类型: {dissolve_type} {dissolve_emoji}")
-    
-    action_sequence.append(create_action_log(f"确定溶解类型: {dissolve_type} {dissolve_emoji}", "📋"))
-    
+    debug_print(f"溶解类型: {dissolve_type}")
+
+    action_sequence.append(create_action_log(f"溶解类型: {dissolve_type}", "📋"))
+
     # === 查找设备 ===
-    debug_print("🔍 步骤4: 查找设备...")
-    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
-    
-    # 查找加热搅拌器
     heatchill_id = find_connected_heatchill(G, vessel_id)
     stirrer_id = find_connected_stirrer(G, vessel_id)
     
     # 优先使用加热搅拌器，否则使用独立搅拌器
     stir_device_id = heatchill_id or stirrer_id
-    
-    debug_print(f"📊 设备映射:")
-    debug_print(f"  🔥 加热器: '{heatchill_id}'")
-    debug_print(f"  🌪️ 搅拌器: '{stirrer_id}'")
-    debug_print(f"  🎯 使用设备: '{stir_device_id}'")
-    
-    if heatchill_id:
-        action_sequence.append(create_action_log(f"找到加热搅拌器: {heatchill_id}", "🔥"))
-    elif stirrer_id:
-        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
-    else:
+    debug_print(f"设备: heatchill='{heatchill_id}', stirrer='{stirrer_id}'")
+
+    if not stir_device_id:
         action_sequence.append(create_action_log("未找到搅拌设备，将跳过搅拌", "⚠️"))
     
     # === 执行溶解流程 ===
-    debug_print("🔍 步骤5: 执行溶解流程...")
-    
     try:
-        # 步骤5.1: 启动加热搅拌（如果需要）
+        # 启动加热搅拌（如果需要）
         if stir_device_id and (final_temp > 25.0 or final_time > 0 or stir_speed > 0):
-            debug_print(f"🔍 5.1: 启动加热搅拌，温度: {final_temp}°C")
-            action_sequence.append(create_action_log(f"准备加热搅拌 (目标温度: {final_temp}°C)", "🔥"))
-            
+
             if heatchill_id and (final_temp > 25.0 or final_time > 0):
                 # 使用加热搅拌器
-                action_sequence.append(create_action_log(f"启动加热搅拌器 {heatchill_id}", "🔥"))
                 
                 heatchill_action = {
                     "device_id": heatchill_id,
@@ -573,7 +136,6 @@ def generate_dissolve_protocol(
                 # 等待温度稳定
                 if final_temp > 25.0:
                     wait_time = min(60, abs(final_temp - 25.0) * 1.5)
-                    action_sequence.append(create_action_log(f"等待温度稳定 ({wait_time:.0f}秒)", "⏳"))
                     action_sequence.append({
                         "action_name": "wait",
                         "action_kwargs": {"time": wait_time}
@@ -581,7 +143,6 @@ def generate_dissolve_protocol(
             
             elif stirrer_id:
                 # 使用独立搅拌器
-                action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🌪️"))
                 
                 stir_action = {
                     "device_id": stirrer_id,
@@ -593,9 +154,8 @@ def generate_dissolve_protocol(
                     }
                 }
                 action_sequence.append(stir_action)
-                
+
                 # 等待搅拌稳定
-                action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
@@ -603,12 +163,8 @@ def generate_dissolve_protocol(
         
         if is_solid_dissolve:
             # === 固体溶解路径 ===
-            debug_print(f"🔍 5.2: 使用固体溶解路径")
-            action_sequence.append(create_action_log("开始固体溶解流程", "🧂"))
-            
             solid_dispenser = find_solid_dispenser(G)
             if solid_dispenser:
-                action_sequence.append(create_action_log(f"找到固体加样器: {solid_dispenser}", "🥄"))
                 
                 # 固体加样
                 add_kwargs = {
@@ -620,42 +176,27 @@ def generate_dissolve_protocol(
                 
                 if final_mass > 0:
                     add_kwargs["mass"] = str(final_mass)
-                    action_sequence.append(create_action_log(f"准备添加固体: {final_mass}g", "⚖️"))
                 if mol and mol.strip():
                     add_kwargs["mol"] = mol
-                    action_sequence.append(create_action_log(f"按摩尔数添加: {mol}", "🧬"))
-                
-                action_sequence.append(create_action_log("开始固体加样操作", "🥄"))
+
                 action_sequence.append({
                     "device_id": solid_dispenser,
                     "action_name": "add_solid",
                     "action_kwargs": add_kwargs
                 })
-                
-                debug_print(f"✅ 固体加样完成")
-                action_sequence.append(create_action_log("固体加样完成", "✅"))
-                
-                # 🔧 新增：固体溶解体积运算 - 固体本身不会显著增加体积，但可能有少量变化
-                debug_print(f"🔧 固体溶解 - 体积变化很小，主要是质量变化")
-                # 固体通常不会显著改变液体体积，这里只记录日志
-                action_sequence.append(create_action_log(f"固体已添加: {final_mass}g", "📊"))
+
+                # 固体溶解体积运算 - 固体本身不会显著增加体积
                 
             else:
-                debug_print("⚠️ 未找到固体加样器，跳过固体添加")
+                debug_print("未找到固体加样器，跳过固体添加")
                 action_sequence.append(create_action_log("未找到固体加样器，无法添加固体", "❌"))
         
         elif is_liquid_dissolve:
             # === 液体溶解路径 ===
-            debug_print(f"🔍 5.3: 使用液体溶解路径")
-            action_sequence.append(create_action_log("开始液体溶解流程", "💧"))
-            
-            # 查找溶剂容器
-            action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
             try:
                 solvent_vessel = find_solvent_vessel(G, solvent)
-                action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "🧪"))
             except ValueError as e:
-                debug_print(f"⚠️ {str(e)}，跳过溶剂添加")
+                debug_print(f"溶剂容器查找失败: {str(e)}，跳过溶剂添加")
                 action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
                 solvent_vessel = None
             
@@ -663,10 +204,7 @@ def generate_dissolve_protocol(
                 # 计算流速 - 溶解时通常用较慢的速度，避免飞溅
                 flowrate = 1.0  # 较慢的注入速度
                 transfer_flowrate = 0.5  # 较慢的转移速度
-                
-                action_sequence.append(create_action_log(f"设置流速: {flowrate}mL/min (缓慢注入)", "⚡"))
-                action_sequence.append(create_action_log(f"开始转移 {final_volume}mL {solvent}", "🚰"))
-                
+
                 # 调用pump protocol
                 pump_actions = generate_pump_protocol_with_rinsing(
                     G=G,
@@ -688,12 +226,9 @@ def generate_dissolve_protocol(
                     **kwargs
                 )
                 action_sequence.extend(pump_actions)
-                debug_print(f"✅ 溶剂转移完成，添加了 {len(pump_actions)} 个动作")
-                action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-                
-                # 🔧 新增：液体溶解体积运算 - 添加溶剂后更新容器体积
-                debug_print(f"🔧 更新容器液体体积 - 添加溶剂 {final_volume:.2f}mL")
-                
+
+                # 液体溶解体积运算 - 添加溶剂后更新容器体积
+
                 # 确保vessel有data字段
                 if "data" not in vessel:
                     vessel["data"] = {}
@@ -703,19 +238,14 @@ def generate_dissolve_protocol(
                     if isinstance(current_volume, list):
                         if len(current_volume) > 0:
                             vessel["data"]["liquid_volume"][0] += final_volume
-                            debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{final_volume:.2f}mL)")
                         else:
                             vessel["data"]["liquid_volume"] = [final_volume]
-                            debug_print(f"📊 初始化溶解体积: {final_volume:.2f}mL")
                     elif isinstance(current_volume, (int, float)):
                         vessel["data"]["liquid_volume"] += final_volume
-                        debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{final_volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = final_volume
-                        debug_print(f"📊 重置体积为: {final_volume:.2f}mL")
                 else:
                     vessel["data"]["liquid_volume"] = final_volume
-                    debug_print(f"📊 创建新体积记录: {final_volume:.2f}mL")
                 
                 # 🔧 同时更新图中的容器数据
                 if vessel_id in G.nodes():
@@ -732,27 +262,19 @@ def generate_dissolve_protocol(
                             G.nodes[vessel_id]['data']['liquid_volume'] = [final_volume]
                     else:
                         G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + final_volume
-                    
-                    debug_print(f"✅ 图节点体积数据已更新")
-                
-                action_sequence.append(create_action_log(f"容器体积已更新 (+{final_volume:.2f}mL)", "📊"))
-                
+
                 # 溶剂添加后等待
-                action_sequence.append(create_action_log("溶剂添加后短暂等待...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
                 })
         
-        # 步骤5.4: 等待溶解完成
+        # 等待溶解完成
         if final_time > 0:
-            debug_print(f"🔍 5.4: 等待溶解完成 - {final_time}s")
             wait_minutes = final_time / 60
-            action_sequence.append(create_action_log(f"开始溶解等待 ({wait_minutes:.1f}分钟)", "⏰"))
-            
+
             if heatchill_id:
                 # 使用定时加热搅拌
-                action_sequence.append(create_action_log(f"使用加热搅拌器进行定时溶解", "🔥"))
                 
                 dissolve_action = {
                     "device_id": heatchill_id,
@@ -770,7 +292,6 @@ def generate_dissolve_protocol(
             
             elif stirrer_id:
                 # 使用定时搅拌
-                action_sequence.append(create_action_log(f"使用搅拌器进行定时溶解", "🌪️"))
                 
                 stir_action = {
                     "device_id": stirrer_id,
@@ -787,7 +308,6 @@ def generate_dissolve_protocol(
             
             else:
                 # 简单等待
-                action_sequence.append(create_action_log(f"简单等待溶解完成", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": final_time}
@@ -795,9 +315,7 @@ def generate_dissolve_protocol(
         
         # 步骤5.5: 停止加热搅拌（如果需要）
         if heatchill_id and final_time == 0 and final_temp > 25.0:
-            debug_print(f"🔍 5.5: 停止加热器")
-            action_sequence.append(create_action_log("停止加热搅拌器", "🛑"))
-            
+
             stop_action = {
                 "device_id": heatchill_id,
                 "action_name": "heat_chill_stop",
@@ -808,7 +326,7 @@ def generate_dissolve_protocol(
             action_sequence.append(stop_action)
         
     except Exception as e:
-        debug_print(f"❌ 溶解流程执行失败: {str(e)}")
+        debug_print(f"溶解流程执行失败: {str(e)}")
         action_sequence.append(create_action_log(f"溶解流程失败: {str(e)}", "❌"))
         # 添加错误日志
         action_sequence.append({
@@ -829,23 +347,8 @@ def generate_dissolve_protocol(
             final_liquid_volume = current_volume
     
     # === 最终结果 ===
-    debug_print("=" * 60)
-    debug_print(f"🎉 溶解协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  🥼 容器: {vessel_id}")
-    debug_print(f"  {dissolve_emoji} 溶解类型: {dissolve_type}")
-    if is_liquid_dissolve:
-        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL)")
-    if is_solid_dissolve:
-        debug_print(f"  🧪 试剂: {reagent}")
-        debug_print(f"  ⚖️ 质量: {final_mass}g")
-        debug_print(f"  🧬 摩尔: {mol}")
-    debug_print(f"  🌡️ 温度: {final_temp}°C")
-    debug_print(f"  ⏱️ 时间: {final_time}s")
-    debug_print(f"  📊 溶解前体积: {original_liquid_volume:.2f}mL")
-    debug_print(f"  📊 溶解后体积: {final_liquid_volume:.2f}mL")
-    debug_print("=" * 60)
+    debug_print(f"溶解协议完成: {vessel_id}, 类型={dissolve_type}, "
+                f"动作数={len(action_sequence)}, 体积={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
     
     # 添加完成日志
     summary_msg = f"溶解协议完成: {vessel_id}"
@@ -854,7 +357,7 @@ def generate_dissolve_protocol(
     if is_solid_dissolve:
         summary_msg += f" (溶解 {final_mass}g {reagent})"
     
-    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    action_sequence.append(create_action_log(summary_msg, "✅"))
     
     return action_sequence
 
@@ -866,7 +369,7 @@ def dissolve_solid_by_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Unio
                           temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """按质量溶解固体"""
     vessel_id = vessel["id"]
-    debug_print(f"🧂 快速固体溶解: {reagent} ({mass}) → {vessel_id}")
+    debug_print(f"快速固体溶解: {reagent} ({mass}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         mass=mass, 
@@ -879,7 +382,7 @@ def dissolve_solid_by_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str,
                            temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """按摩尔数溶解固体"""
     vessel_id = vessel["id"]
-    debug_print(f"🧬 按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
+    debug_print(f"按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         mol=mol, 
@@ -892,7 +395,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
                          temp: Union[str, float] = 25.0, time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
     """用溶剂溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"💧 溶剂溶解: {solvent} ({volume}) → {vessel_id}")
+    debug_print(f"溶剂溶解: {solvent} ({volume}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -904,7 +407,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
 def dissolve_at_room_temp(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float]) -> List[Dict[str, Any]]:
     """室温溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"🌡️ 室温溶解: {solvent} ({volume}) → {vessel_id}")
+    debug_print(f"室温溶解: {solvent} ({volume}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -917,7 +420,7 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
                          temp: Union[str, float] = "60 °C", time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
     """加热溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"🔥 加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
+    debug_print(f"加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -929,37 +432,31 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
 # 测试函数
 def test_dissolve_protocol():
     """测试溶解协议的各种参数解析"""
-    debug_print("=== DISSOLVE PROTOCOL 增强版测试 ===")
-    
     # 测试体积解析
-    debug_print("💧 测试体积解析...")
     volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
     for vol in volumes:
         result = parse_volume_input(vol)
-        debug_print(f"📏 体积解析: {vol} → {result}mL")
-    
+        debug_print(f"体积解析: {vol} → {result}mL")
+
     # 测试质量解析
-    debug_print("⚖️ 测试质量解析...")
     masses = ["2.9 g", "?", 2.5, "500 mg"]
     for mass in masses:
         result = parse_mass_input(mass)
-        debug_print(f"⚖️ 质量解析: {mass} → {result}g")
-    
+        debug_print(f"质量解析: {mass} → {result}g")
+
     # 测试温度解析
-    debug_print("🌡️ 测试温度解析...")
     temps = ["60 °C", "room temperature", "?", 25.0, "reflux"]
     for temp in temps:
         result = parse_temperature_input(temp)
-        debug_print(f"🌡️ 温度解析: {temp} → {result}°C")
-    
+        debug_print(f"温度解析: {temp} → {result}°C")
+
     # 测试时间解析
-    debug_print("⏱️ 测试时间解析...")
     times = ["30 min", "1 h", "?", 60.0]
     for time in times:
         result = parse_time_input(time)
-        debug_print(f"⏱️ 时间解析: {time} → {result}s")
-    
-    debug_print("✅ 测试完成")
+        debug_print(f"时间解析: {time} → {result}s")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
     test_dissolve_protocol()

unilabos/compile/dry_protocol.py

@@ -1,87 +1,40 @@
 import networkx as nx
 from typing import List, Dict, Any
 
-from unilabos.compile.utils.vessel_parser import get_vessel
-
-
-def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
-    """
-    查找与容器相连的加热器
-    
-    Args:
-        G: 网络图
-        vessel: 容器名称
-    
-    Returns:
-        str: 加热器ID，如果没有则返回None
-    """
-    print(f"DRY: 正在查找与容器 '{vessel}' 相连的加热器...")
-    
-    # 查找所有加热器节点
-    heater_nodes = [node for node in G.nodes() 
-                   if ('heater' in node.lower() or 
-                       'heat' in node.lower() or
-                       G.nodes[node].get('class') == 'virtual_heatchill' or
-                       G.nodes[node].get('type') == 'heater')]
-    
-    print(f"DRY: 找到的加热器节点: {heater_nodes}")
-    
-    # 检查是否有加热器与目标容器相连
-    for heater in heater_nodes:
-        if G.has_edge(heater, vessel) or G.has_edge(vessel, heater):
-            print(f"DRY: 找到与容器 '{vessel}' 相连的加热器: {heater}")
-            return heater
-    
-    # 如果没有直接连接，查找距离最近的加热器
-    for heater in heater_nodes:
-        try:
-            path = nx.shortest_path(G, source=heater, target=vessel)
-            if len(path) <= 3:  # 最多2个中间节点
-                print(f"DRY: 找到距离较近的加热器: {heater}, 路径: {' → '.join(path)}")
-                return heater
-        except nx.NetworkXNoPath:
-            continue
-    
-    print(f"DRY: 未找到与容器 '{vessel}' 相连的加热器")
-    return None
+from .utils.vessel_parser import get_vessel, find_connected_heatchill
+from .utils.logger_util import debug_print
 
 
 def generate_dry_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    compound: str = "",  # 🔧 修改：参数顺序调整，并设置默认值
-    **kwargs  # 接收其他可能的参数但不使用
+    vessel: dict,
+    compound: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成干燥协议序列
-    
+
     Args:
         G: 有向图，节点为容器和设备
         vessel: 目标容器字典（从XDL传入）
         compound: 化合物名称（从XDL传入，可选）
         **kwargs: 其他可选参数，但不使用
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     action_sequence = []
-    
+
     # 默认参数
-    dry_temp = 60.0  # 默认干燥温度 60°C
-    dry_time = 3600.0  # 默认干燥时间 1小时（3600秒）
-    simulation_time = 60.0  # 模拟时间 1分钟
-    
-    print(f"🌡️ DRY: 开始生成干燥协议 ✨")
-    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    print(f"  🧪 化合物: {compound or '未指定'}")
-    print(f"  🔥 干燥温度: {dry_temp}°C")
-    print(f"  ⏰ 干燥时间: {dry_time/60:.0f} 分钟")
-    
-    # 🔧 新增：记录干燥前的容器状态
-    print(f"🔍 记录干燥前容器状态...")
+    dry_temp = 60.0
+    dry_time = 3600.0
+    simulation_time = 60.0
+
+    debug_print(f"开始生成干燥协议: vessel={vessel_id}, compound={compound or '未指定'}, temp={dry_temp}°C")
+
+    # 记录干燥前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -89,39 +42,30 @@ def generate_dry_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    print(f"📊 干燥前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # 1. 验证目标容器存在
-    print(f"\n📋 步骤1: 验证目标容器 '{vessel_id}' 是否存在...")
     if vessel_id not in G.nodes():
-        print(f"⚠️ DRY: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过干燥 😢")
+        debug_print(f"容器 '{vessel_id}' 不存在于系统中，跳过干燥")
         return action_sequence
-    print(f"✅ 容器 '{vessel_id}' 验证通过!")
-    
+
     # 2. 查找相连的加热器
-    print(f"\n🔍 步骤2: 查找与容器相连的加热器...")
-    heater_id = find_connected_heater(G, vessel_id)  # 🔧 使用 vessel_id
-    
+    heater_id = find_connected_heatchill(G, vessel_id)
+
     if heater_id is None:
-        print(f"😭 DRY: 警告 - 未找到与容器 '{vessel_id}' 相连的加热器，跳过干燥")
-        print(f"🎭 添加模拟干燥动作...")
-        # 添加一个等待动作，表示干燥过程（模拟）
+        debug_print(f"未找到与容器 '{vessel_id}' 相连的加热器，添加模拟干燥动作")
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {
-                "time": 10.0,  # 模拟等待时间
+                "time": 10.0,
                 "description": f"模拟干燥 {compound or '化合物'} (无加热器可用)"
             }
         })
-        
-        # 🔧 新增：模拟干燥的体积变化（溶剂蒸发）
-        print(f"🔧 模拟干燥过程的体积减少...")
+
+        # 模拟干燥的体积变化
         if original_liquid_volume > 0:
-            # 假设干燥过程中损失10%的体积（溶剂蒸发）
             volume_loss = original_liquid_volume * 0.1
             new_volume = max(0.0, original_liquid_volume - volume_loss)
-            
-            # 更新vessel字典中的体积
+
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
@@ -133,15 +77,14 @@ def generate_dry_protocol(
                     vessel["data"]["liquid_volume"] = new_volume
                 else:
                     vessel["data"]["liquid_volume"] = new_volume
-            
-            # 🔧 同时更新图中的容器数据
+
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
-                
+
                 vessel_node_data = G.nodes[vessel_id]['data']
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-                
+
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -149,33 +92,27 @@ def generate_dry_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-            
-            print(f"📊 模拟干燥体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{volume_loss:.2f}mL)")
-        
-        print(f"📄 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
+
+            debug_print(f"模拟干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL")
+
+        debug_print(f"协议生成完成，共 {len(action_sequence)} 个动作")
         return action_sequence
-    
-    print(f"🎉 找到加热器: {heater_id}!")
-    
+
+    debug_print(f"找到加热器: {heater_id}")
+
     # 3. 启动加热器进行干燥
-    print(f"\n🚀 步骤3: 开始执行干燥流程...")
-    print(f"🔥 启动加热器 {heater_id} 进行干燥")
-    
     # 3.1 启动加热
-    print(f"  ⚡ 动作1: 启动加热到 {dry_temp}°C...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},
             "temp": dry_temp,
             "purpose": f"干燥 {compound or '化合物'}"
         }
     })
-    print(f"  ✅ 加热器启动命令已添加 🔥")
-    
+
     # 3.2 等待温度稳定
-    print(f"  ⏳ 动作2: 等待温度稳定...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -183,34 +120,27 @@ def generate_dry_protocol(
             "description": f"等待温度稳定到 {dry_temp}°C"
         }
     })
-    print(f"  ✅ 温度稳定等待命令已添加 🌡️")
-    
+
     # 3.3 保持干燥温度
-    print(f"  🔄 动作3: 保持干燥温度 {simulation_time/60:.0f} 分钟...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},
             "temp": dry_temp,
             "time": simulation_time,
             "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
         }
     })
-    print(f"  ✅ 温度保持命令已添加 🌡️⏰")
-    
-    # 🔧 新增：干燥过程中的体积变化计算
-    print(f"🔧 计算干燥过程中的体积变化...")
+
+    # 干燥过程中的体积变化计算
     if original_liquid_volume > 0:
-        # 干燥过程中，溶剂会蒸发，固体保留
-        # 根据温度和时间估算蒸发量
-        evaporation_rate = 0.001 * dry_temp  # 每秒每°C蒸发0.001mL
-        total_evaporation = min(original_liquid_volume * 0.8, 
-                               evaporation_rate * simulation_time)  # 最多蒸发80%
-        
+        evaporation_rate = 0.001 * dry_temp
+        total_evaporation = min(original_liquid_volume * 0.8,
+                               evaporation_rate * simulation_time)
+
         new_volume = max(0.0, original_liquid_volume - total_evaporation)
-        
-        # 更新vessel字典中的体积
+
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
             if isinstance(current_volume, list):
@@ -222,15 +152,14 @@ def generate_dry_protocol(
                 vessel["data"]["liquid_volume"] = new_volume
             else:
                 vessel["data"]["liquid_volume"] = new_volume
-        
-        # 🔧 同时更新图中的容器数据
+
         if vessel_id in G.nodes():
             if 'data' not in G.nodes[vessel_id]:
                 G.nodes[vessel_id]['data'] = {}
-            
+
             vessel_node_data = G.nodes[vessel_id]['data']
             current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-            
+
             if isinstance(current_node_volume, list):
                 if len(current_node_volume) > 0:
                     G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -238,37 +167,29 @@ def generate_dry_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-        
-        print(f"📊 干燥体积变化计算:")
-        print(f"  - 初始体积: {original_liquid_volume:.2f}mL")
-        print(f"  - 蒸发量: {total_evaporation:.2f}mL")
-        print(f"  - 剩余体积: {new_volume:.2f}mL")
-        print(f"  - 蒸发率: {(total_evaporation/original_liquid_volume*100):.1f}%")
-    
+
+        debug_print(f"干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{total_evaporation:.2f}mL)")
+
     # 3.4 停止加热
-    print(f"  ⏹️ 动作4: 停止加热...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": {"id": vessel_id},
             "purpose": f"干燥完成，停止加热"
         }
     })
-    print(f"  ✅ 停止加热命令已添加 🛑")
-    
+
     # 3.5 等待冷却
-    print(f"  ❄️ 动作5: 等待冷却...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 10.0,  # 等待10秒冷却
+            "time": 10.0,
             "description": f"等待 {compound or '化合物'} 冷却"
         }
     })
-    print(f"  ✅ 冷却等待命令已添加 🧊")
-    
-    # 🔧 新增：干燥完成后的状态报告
+
+    # 最终状态
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -276,60 +197,37 @@ def generate_dry_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-    
-    print(f"\n🎊 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
-    print(f"⏱️ DRY: 预计总时间: {(simulation_time + 30)/60:.0f} 分钟 ⌛")
-    print(f"📊 干燥结果:")
-    print(f"  - 容器: {vessel_id}")
-    print(f"  - 化合物: {compound or '未指定'}")
-    print(f"  - 干燥前体积: {original_liquid_volume:.2f}mL")
-    print(f"  - 干燥后体积: {final_liquid_volume:.2f}mL")
-    print(f"  - 蒸发体积: {(original_liquid_volume - final_liquid_volume):.2f}mL")
-    print(f"🏁 所有动作序列准备就绪! ✨")
-    
+
+    debug_print(f"干燥协议生成完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
+
     return action_sequence
 
 
-# 🔧 新增：便捷函数
-def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+# 便捷函数
+def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
                                temp: float = 40.0, time: float = 30.0) -> List[Dict[str, Any]]:
     """快速干燥：低温短时间"""
-    vessel_id = vessel["id"]
-    print(f"🌡️ 快速干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
-    
-    # 临时修改默认参数
-    import types
-    temp_func = types.FunctionType(
-        generate_dry_protocol.__code__, 
-        generate_dry_protocol.__globals__
-    )
-    
-    # 直接调用原函数，但修改内部参数
     return generate_dry_protocol(G, vessel, compound)
 
 
-def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
                                   temp: float = 80.0, time: float = 120.0) -> List[Dict[str, Any]]:
     """深度干燥：高温长时间"""
-    vessel_id = vessel["id"]
-    print(f"🔥 深度干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
     return generate_dry_protocol(G, vessel, compound)
 
 
-def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
                                 temp: float = 30.0, time: float = 180.0) -> List[Dict[str, Any]]:
     """温和干燥：低温长时间"""
-    vessel_id = vessel["id"]
-    print(f"🌡️ 温和干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
     return generate_dry_protocol(G, vessel, compound)
 
 
 # 测试函数
 def test_dry_protocol():
     """测试干燥协议"""
-    print("=== DRY PROTOCOL 测试 ===")
-    print("测试完成")
+    debug_print("=== DRY PROTOCOL 测试 ===")
+    debug_print("测试完成")
 
 
 if __name__ == "__main__":
-    test_dry_protocol()
+    test_dry_protocol()

unilabos/compile/evacuateandrefill_protocol.py

@@ -3,38 +3,14 @@ from functools import partial
 import networkx as nx
 import logging
 import uuid
-import sys
 from typing import List, Dict, Any, Optional
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
+from .utils.vessel_parser import get_vessel, find_connected_stirrer
+from .utils.logger_util import debug_print, action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
 
 # 设置日志
 logger = logging.getLogger(__name__)
 
-# 确保输出编码为UTF-8
-if hasattr(sys.stdout, 'reconfigure'):
-    try:
-        sys.stdout.reconfigure(encoding='utf-8')
-        sys.stderr.reconfigure(encoding='utf-8')
-    except:
-        pass
-
-def debug_print(message):
-    """调试输出函数 - 支持中文"""
-    try:
-        # 确保消息是字符串格式
-        safe_message = str(message)
-        logger.info(f"[抽真空充气] {safe_message}")
-    except UnicodeEncodeError:
-        # 如果编码失败，尝试替换不支持的字符
-        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
-        logger.info(f"[抽真空充气] {safe_message}")
-    except Exception as e:
-        # 最后的安全措施
-        fallback_message = f"日志输出错误: {repr(message)}"
-        logger.info(f"[抽真空充气] {fallback_message}")
-
 create_action_log = partial(action_log, prefix="[抽真空充气]")
 
 def find_gas_source(G: nx.DiGraph, gas: str) -> str:
@@ -44,10 +20,9 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
     2. 气体类型匹配（data.gas_type）
     3. 默认气源
     """
-    debug_print(f"🔍 正在查找气体 '{gas}' 的气源...")
-    
-    # 第一步：通过容器名称匹配
-    debug_print(f"📋 方法1: 容器名称匹配...")
+    debug_print(f"正在查找气体 '{gas}' 的气源...")
+
+    # 通过容器名称匹配
     gas_source_patterns = [
         f"gas_source_{gas}",
         f"gas_{gas}",
@@ -57,254 +32,178 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
         f"reagent_bottle_{gas}",
         f"bottle_{gas}"
     ]
-    
-    debug_print(f"🎯 尝试的容器名称: {gas_source_patterns}")
-    
+
     for pattern in gas_source_patterns:
         if pattern in G.nodes():
-            debug_print(f"✅ 通过名称找到气源: {pattern}")
+            debug_print(f"通过名称找到气源: {pattern}")
             return pattern
-    
-    # 第二步：通过气体类型匹配 (data.gas_type)
-    debug_print(f"📋 方法2: 气体类型匹配...")
+
+    # 通过气体类型匹配 (data.gas_type)
     for node_id in G.nodes():
         node_data = G.nodes[node_id]
         node_class = node_data.get('class', '') or ''
-        
-        # 检查是否是气源设备
-        if ('gas_source' in node_class or 
-            'gas' in node_id.lower() or 
+
+        if ('gas_source' in node_class or
+            'gas' in node_id.lower() or
             node_id.startswith('flask_')):
-            
-            # 检查 data.gas_type
+
             data = node_data.get('data', {})
             gas_type = data.get('gas_type', '')
-            
+
             if gas_type.lower() == gas.lower():
-                debug_print(f"✅ 通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
+                debug_print(f"通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
                 return node_id
-            
-            # 检查 config.gas_type  
+
             config = node_data.get('config', {})
             config_gas_type = config.get('gas_type', '')
-            
+
             if config_gas_type.lower() == gas.lower():
-                debug_print(f"✅ 通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
+                debug_print(f"通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
                 return node_id
-    
-    # 第三步：查找所有可用的气源设备
-    debug_print(f"📋 方法3: 查找可用气源...")
+
+    # 查找所有可用的气源设备
     available_gas_sources = []
     for node_id in G.nodes():
         node_data = G.nodes[node_id]
         node_class = node_data.get('class', '') or ''
-        
-        if ('gas_source' in node_class or 
+
+        if ('gas_source' in node_class or
             'gas' in node_id.lower() or
             (node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
-            
+
             data = node_data.get('data', {})
             gas_type = data.get('gas_type', '未知')
             available_gas_sources.append(f"{node_id} (气体类型: {gas_type})")
-    
-    debug_print(f"📊 可用气源: {available_gas_sources}")
-    
-    # 第四步：如果找不到特定气体，使用默认的第一个气源
-    debug_print(f"📋 方法4: 查找默认气源...")
+
+    # 如果找不到特定气体，使用默认的第一个气源
     default_gas_sources = [
-        node for node in G.nodes() 
+        node for node in G.nodes()
         if ((G.nodes[node].get('class') or '').find('virtual_gas_source') != -1
             or 'gas_source' in node)
     ]
-    
+
     if default_gas_sources:
         default_source = default_gas_sources[0]
-        debug_print(f"⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
+        debug_print(f"未找到特定气体 '{gas}'，使用默认气源: {default_source}")
         return default_source
-    
-    debug_print(f"❌ 所有方法都失败了！")
+
     raise ValueError(f"无法找到气体 '{gas}' 的气源。可用气源: {available_gas_sources}")
 
 def find_vacuum_pump(G: nx.DiGraph) -> str:
     """查找真空泵设备"""
-    debug_print("🔍 正在查找真空泵...")
-    
     vacuum_pumps = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-        
-        if ('virtual_vacuum_pump' in node_class or 
-            'vacuum_pump' in node.lower() or 
+
+        if ('virtual_vacuum_pump' in node_class or
+            'vacuum_pump' in node.lower() or
             'vacuum' in node_class.lower()):
             vacuum_pumps.append(node)
-            debug_print(f"📋 发现真空泵: {node}")
-    
-    if not vacuum_pumps:
-        debug_print(f"❌ 系统中未找到真空泵")
-        raise ValueError("系统中未找到真空泵")
-    
-    debug_print(f"✅ 使用真空泵: {vacuum_pumps[0]}")
-    return vacuum_pumps[0]
 
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> Optional[str]:
-    """查找与指定容器相连的搅拌器"""
-    debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
-    
-    stirrer_nodes = []
-    for node in G.nodes():
-        node_data = G.nodes[node]
-        node_class = node_data.get('class', '') or ''
-        
-        if 'virtual_stirrer' in node_class or 'stirrer' in node.lower():
-            stirrer_nodes.append(node)
-            debug_print(f"📋 发现搅拌器: {node}")
-    
-    debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
-    
-    # 检查哪个搅拌器与目标容器相连
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
-            return stirrer
-    
-    # 如果没有连接的搅拌器，返回第一个可用的
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
-        return stirrer_nodes[0]
-    
-    debug_print("❌ 未找到搅拌器")
-    return None
+    if not vacuum_pumps:
+        raise ValueError("系统中未找到真空泵")
+
+    debug_print(f"使用真空泵: {vacuum_pumps[0]}")
+    return vacuum_pumps[0]
 
 def find_vacuum_solenoid_valve(G: nx.DiGraph, vacuum_pump: str) -> Optional[str]:
     """查找真空泵相关的电磁阀"""
-    debug_print(f"🔍 正在查找真空泵 {vacuum_pump} 的电磁阀...")
-    
-    # 查找所有电磁阀
     solenoid_valves = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-        
+
         if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
             solenoid_valves.append(node)
-            debug_print(f"📋 发现电磁阀: {node}")
-    
-    debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
-    
+
     # 检查连接关系
-    debug_print(f"📋 方法1: 检查连接关系...")
     for solenoid in solenoid_valves:
         if G.has_edge(solenoid, vacuum_pump) or G.has_edge(vacuum_pump, solenoid):
-            debug_print(f"✅ 找到连接的真空电磁阀: {solenoid}")
+            debug_print(f"找到连接的真空电磁阀: {solenoid}")
             return solenoid
-    
+
     # 通过命名规则查找
-    debug_print(f"📋 方法2: 检查命名规则...")
     for solenoid in solenoid_valves:
         if 'vacuum' in solenoid.lower() or solenoid == 'solenoid_valve_1':
-            debug_print(f"✅ 通过命名找到真空电磁阀: {solenoid}")
+            debug_print(f"通过命名找到真空电磁阀: {solenoid}")
             return solenoid
-    
-    debug_print("⚠️ 未找到真空电磁阀")
+
+    debug_print("未找到真空电磁阀")
     return None
 
 def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
     """查找气源相关的电磁阀"""
-    debug_print(f"🔍 正在查找气源 {gas_source} 的电磁阀...")
-    
-    # 查找所有电磁阀
     solenoid_valves = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-        
+
         if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
             solenoid_valves.append(node)
-    
-    debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
-    
+
     # 检查连接关系
-    debug_print(f"📋 方法1: 检查连接关系...")
     for solenoid in solenoid_valves:
         if G.has_edge(gas_source, solenoid) or G.has_edge(solenoid, gas_source):
-            debug_print(f"✅ 找到连接的气源电磁阀: {solenoid}")
+            debug_print(f"找到连接的气源电磁阀: {solenoid}")
             return solenoid
-    
+
     # 通过命名规则查找
-    debug_print(f"📋 方法2: 检查命名规则...")
     for solenoid in solenoid_valves:
         if 'gas' in solenoid.lower() or solenoid == 'solenoid_valve_2':
-            debug_print(f"✅ 通过命名找到气源电磁阀: {solenoid}")
+            debug_print(f"通过命名找到气源电磁阀: {solenoid}")
             return solenoid
-    
-    debug_print("⚠️ 未找到气源电磁阀")
+
+    debug_print("未找到气源电磁阀")
     return None
 
 def generate_evacuateandrefill_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel: dict,
     gas: str,
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成抽真空和充气操作的动作序列 - 中文版
-    
+    生成抽真空和充气操作的动作序列
+
     Args:
         G: 设备图
         vessel: 目标容器字典（必需）
-        gas: 气体名称（必需）  
+        gas: 气体名称（必需）
         **kwargs: 其他参数（兼容性）
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-    
-    # 🔧 核心修改：从字典中提取容器ID
+
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     # 硬编码重复次数为 3
     repeats = 3
-    
-    # 生成协议ID
+
     protocol_id = str(uuid.uuid4())
-    debug_print(f"🆔 生成协议ID: {protocol_id}")
-    
-    debug_print("=" * 60)
-    debug_print("🧪 开始生成抽真空充气协议")
-    debug_print(f"📋 原始参数:")
-    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  💨 气体: '{gas}'")
-    debug_print(f"  🔄 循环次数: {repeats} (硬编码)")
-    debug_print(f"  📦 其他参数: {kwargs}")
-    debug_print("=" * 60)
-    
+
+    debug_print(f"开始生成抽真空充气协议: vessel={vessel_id}, gas={gas}, repeats={repeats}")
+
     action_sequence = []
-    
+
     # === 参数验证和修正 ===
-    debug_print("🔍 步骤1: 参数验证和修正...")
     action_sequence.append(create_action_log(f"开始抽真空充气操作 - 容器: {vessel_id}", "🎬"))
     action_sequence.append(create_action_log(f"目标气体: {gas}", "💨"))
     action_sequence.append(create_action_log(f"循环次数: {repeats}", "🔄"))
-    
-    # 验证必需参数
+
     if not vessel_id:
-        debug_print("❌ 容器参数不能为空")
         raise ValueError("容器参数不能为空")
-    
+
     if not gas:
-        debug_print("❌ 气体参数不能为空")
         raise ValueError("气体参数不能为空")
-    
-    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print(f"❌ 容器 '{vessel_id}' 在系统中不存在")
+
+    if vessel_id not in G.nodes():
         raise ValueError(f"容器 '{vessel_id}' 在系统中不存在")
-    
-    debug_print("✅ 基本参数验证通过")
+
     action_sequence.append(create_action_log("参数验证通过", "✅"))
-    
+
     # 标准化气体名称
-    debug_print("🔧 标准化气体名称...")
     gas_aliases = {
         'n2': 'nitrogen',
         'ar': 'argon',
@@ -319,61 +218,54 @@ def generate_evacuateandrefill_protocol(
         '二氧化碳': 'carbon_dioxide',
         '氢气': 'hydrogen'
     }
-    
+
     original_gas = gas
     gas_lower = gas.lower().strip()
     if gas_lower in gas_aliases:
         gas = gas_aliases[gas_lower]
-        debug_print(f"🔄 标准化气体名称: {original_gas} -> {gas}")
+        debug_print(f"标准化气体名称: {original_gas} -> {gas}")
         action_sequence.append(create_action_log(f"气体名称标准化: {original_gas} -> {gas}", "🔄"))
-    
-    debug_print(f"📋 最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
-    
+
+    debug_print(f"最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
+
     # === 查找设备 ===
-    debug_print("🔍 步骤2: 查找设备...")
     action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
-    
+
     try:
         vacuum_pump = find_vacuum_pump(G)
         action_sequence.append(create_action_log(f"找到真空泵: {vacuum_pump}", "🌪️"))
-        
+
         gas_source = find_gas_source(G, gas)
         action_sequence.append(create_action_log(f"找到气源: {gas_source}", "💨"))
-        
+
         vacuum_solenoid = find_vacuum_solenoid_valve(G, vacuum_pump)
         if vacuum_solenoid:
             action_sequence.append(create_action_log(f"找到真空电磁阀: {vacuum_solenoid}", "🚪"))
         else:
             action_sequence.append(create_action_log("未找到真空电磁阀", "⚠️"))
-        
+
         gas_solenoid = find_gas_solenoid_valve(G, gas_source)
         if gas_solenoid:
             action_sequence.append(create_action_log(f"找到气源电磁阀: {gas_solenoid}", "🚪"))
         else:
             action_sequence.append(create_action_log("未找到气源电磁阀", "⚠️"))
-        
-        stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
+
+        stirrer_id = find_connected_stirrer(G, vessel_id)
         if stirrer_id:
             action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
         else:
             action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
-        
-        debug_print(f"📊 设备配置:")
-        debug_print(f"  🌪️ 真空泵: {vacuum_pump}")
-        debug_print(f"  💨 气源: {gas_source}")
-        debug_print(f"  🚪 真空电磁阀: {vacuum_solenoid}")
-        debug_print(f"  🚪 气源电磁阀: {gas_solenoid}")
-        debug_print(f"  🌪️ 搅拌器: {stirrer_id}")
-        
+
+        debug_print(f"设备配置: 真空泵={vacuum_pump}, 气源={gas_source}, 搅拌器={stirrer_id}")
+
     except Exception as e:
-        debug_print(f"❌ 设备查找失败: {str(e)}")
+        debug_print(f"设备查找失败: {str(e)}")
         action_sequence.append(create_action_log(f"设备查找失败: {str(e)}", "❌"))
         raise ValueError(f"设备查找失败: {str(e)}")
-    
+
     # === 参数设置 ===
-    debug_print("🔍 步骤3: 参数设置...")
     action_sequence.append(create_action_log("设置操作参数...", "⚙️"))
-    
+
     # 根据气体类型调整参数
     if gas.lower() in ['nitrogen', 'argon']:
         VACUUM_VOLUME = 25.0
@@ -381,7 +273,6 @@ def generate_evacuateandrefill_protocol(
         PUMP_FLOW_RATE = 2.0
         VACUUM_TIME = 30.0
         REFILL_TIME = 20.0
-        debug_print("💨 惰性气体: 使用标准参数")
         action_sequence.append(create_action_log("检测到惰性气体，使用标准参数", "💨"))
     elif gas.lower() in ['air', 'oxygen']:
         VACUUM_VOLUME = 20.0
@@ -389,7 +280,6 @@ def generate_evacuateandrefill_protocol(
         PUMP_FLOW_RATE = 1.5
         VACUUM_TIME = 45.0
         REFILL_TIME = 25.0
-        debug_print("🔥 活性气体: 使用保守参数")
         action_sequence.append(create_action_log("检测到活性气体，使用保守参数", "🔥"))
     else:
         VACUUM_VOLUME = 15.0
@@ -397,116 +287,88 @@ def generate_evacuateandrefill_protocol(
         PUMP_FLOW_RATE = 1.0
         VACUUM_TIME = 60.0
         REFILL_TIME = 30.0
-        debug_print("❓ 未知气体: 使用安全参数")
         action_sequence.append(create_action_log("未知气体类型，使用安全参数", "❓"))
-    
+
     STIR_SPEED = 200.0
-    
-    debug_print(f"⚙️ 操作参数:")
-    debug_print(f"  📏 真空体积: {VACUUM_VOLUME}mL")
-    debug_print(f"  📏 充气体积: {REFILL_VOLUME}mL")
-    debug_print(f"  ⚡ 泵流速: {PUMP_FLOW_RATE}mL/s")
-    debug_print(f"  ⏱️ 真空时间: {VACUUM_TIME}s")
-    debug_print(f"  ⏱️ 充气时间: {REFILL_TIME}s")
-    debug_print(f"  🌪️ 搅拌速度: {STIR_SPEED}RPM")
-    
+
     action_sequence.append(create_action_log(f"真空体积: {VACUUM_VOLUME}mL", "📏"))
     action_sequence.append(create_action_log(f"充气体积: {REFILL_VOLUME}mL", "📏"))
     action_sequence.append(create_action_log(f"泵流速: {PUMP_FLOW_RATE}mL/s", "⚡"))
-    
+
     # === 路径验证 ===
-    debug_print("🔍 步骤4: 路径验证...")
     action_sequence.append(create_action_log("验证传输路径...", "🛤️"))
-    
+
     try:
-        # 验证抽真空路径
-        if nx.has_path(G, vessel_id, vacuum_pump):  # 🔧 使用 vessel_id
+        if nx.has_path(G, vessel_id, vacuum_pump):
             vacuum_path = nx.shortest_path(G, source=vessel_id, target=vacuum_pump)
-            debug_print(f"✅ 真空路径: {' -> '.join(vacuum_path)}")
             action_sequence.append(create_action_log(f"真空路径: {' -> '.join(vacuum_path)}", "🛤️"))
         else:
-            debug_print(f"⚠️ 真空路径不存在，继续执行但可能有问题")
             action_sequence.append(create_action_log("真空路径检查: 路径不存在", "⚠️"))
-        
-        # 验证充气路径
-        if nx.has_path(G, gas_source, vessel_id):  # 🔧 使用 vessel_id
+
+        if nx.has_path(G, gas_source, vessel_id):
             gas_path = nx.shortest_path(G, source=gas_source, target=vessel_id)
-            debug_print(f"✅ 气体路径: {' -> '.join(gas_path)}")
             action_sequence.append(create_action_log(f"气体路径: {' -> '.join(gas_path)}", "🛤️"))
         else:
-            debug_print(f"⚠️ 气体路径不存在，继续执行但可能有问题")
             action_sequence.append(create_action_log("气体路径检查: 路径不存在", "⚠️"))
-        
+
     except Exception as e:
-        debug_print(f"⚠️ 路径验证失败: {str(e)}，继续执行")
         action_sequence.append(create_action_log(f"路径验证失败: {str(e)}", "⚠️"))
-    
+
     # === 启动搅拌器 ===
-    debug_print("🔍 步骤5: 启动搅拌器...")
-    
     if stirrer_id:
-        debug_print(f"🌪️ 启动搅拌器: {stirrer_id}")
         action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {STIR_SPEED}rpm)", "🌪️"))
-        
+
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "stir_speed": STIR_SPEED,
                 "purpose": "抽真空充气前预搅拌"
             }
         })
-        
-        # 等待搅拌稳定
+
         action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {"time": 5.0}
         })
     else:
-        debug_print("⚠️ 未找到搅拌器，跳过搅拌器启动")
         action_sequence.append(create_action_log("跳过搅拌器启动", "⏭️"))
-    
+
     # === 执行循环 ===
-    debug_print("🔍 步骤6: 执行抽真空-充气循环...")
     action_sequence.append(create_action_log(f"开始 {repeats} 次抽真空-充气循环", "🔄"))
-    
+
     for cycle in range(repeats):
-        debug_print(f"=== 第 {cycle+1}/{repeats} 轮循环 ===")
         action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环开始", "🚀"))
-        
+
         # ============ 抽真空阶段 ============
-        debug_print(f"🌪️ 抽真空阶段开始")
         action_sequence.append(create_action_log("开始抽真空阶段", "🌪️"))
-        
+
         # 启动真空泵
-        debug_print(f"🔛 启动真空泵: {vacuum_pump}")
         action_sequence.append(create_action_log(f"启动真空泵: {vacuum_pump}", "🔛"))
         action_sequence.append({
             "device_id": vacuum_pump,
             "action_name": "set_status",
             "action_kwargs": {"string": "ON"}
         })
-        
+
         # 开启真空电磁阀
         if vacuum_solenoid:
-            debug_print(f"🚪 打开真空电磁阀: {vacuum_solenoid}")
             action_sequence.append(create_action_log(f"打开真空电磁阀: {vacuum_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "OPEN"}
             })
-        
+
         # 抽真空操作
-        debug_print(f"🌪️ 抽真空操作: {vessel_id} -> {vacuum_pump}")
         action_sequence.append(create_action_log(f"开始抽真空: {vessel_id} -> {vacuum_pump}", "🌪️"))
-        
+
         try:
             vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel=vessel_id,  # 🔧 使用 vessel_id
+                from_vessel=vessel_id,
                 to_vessel=vacuum_pump,
                 volume=VACUUM_VOLUME,
                 amount="",
@@ -519,27 +381,25 @@ def generate_evacuateandrefill_protocol(
                 flowrate=PUMP_FLOW_RATE,
                 transfer_flowrate=PUMP_FLOW_RATE
             )
-            
+
             if vacuum_transfer_actions:
                 action_sequence.extend(vacuum_transfer_actions)
-                debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作")
                 action_sequence.append(create_action_log(f"抽真空协议完成 ({len(vacuum_transfer_actions)} 个操作)", "✅"))
             else:
-                debug_print("⚠️ 抽真空协议返回空序列，添加手动动作")
                 action_sequence.append(create_action_log("抽真空协议为空，使用手动等待", "⚠️"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": VACUUM_TIME}
                 })
-                
+
         except Exception as e:
-            debug_print(f"❌ 抽真空失败: {str(e)}")
+            debug_print(f"抽真空失败: {str(e)}")
             action_sequence.append(create_action_log(f"抽真空失败: {str(e)}", "❌"))
             action_sequence.append({
                 "action_name": "wait",
                 "action_kwargs": {"time": VACUUM_TIME}
             })
-        
+
         # 抽真空后等待
         wait_minutes = VACUUM_TIME / 60
         action_sequence.append(create_action_log(f"抽真空后等待 ({wait_minutes:.1f} 分钟)", "⏳"))
@@ -547,65 +407,59 @@ def generate_evacuateandrefill_protocol(
             "action_name": "wait",
             "action_kwargs": {"time": VACUUM_TIME}
         })
-        
+
         # 关闭真空电磁阀
         if vacuum_solenoid:
-            debug_print(f"🚪 关闭真空电磁阀: {vacuum_solenoid}")
             action_sequence.append(create_action_log(f"关闭真空电磁阀: {vacuum_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "CLOSED"}
             })
-        
+
         # 关闭真空泵
-        debug_print(f"🔴 停止真空泵: {vacuum_pump}")
         action_sequence.append(create_action_log(f"停止真空泵: {vacuum_pump}", "🔴"))
         action_sequence.append({
             "device_id": vacuum_pump,
             "action_name": "set_status",
             "action_kwargs": {"string": "OFF"}
         })
-        
+
         # 阶段间等待
         action_sequence.append(create_action_log("抽真空阶段完成，短暂等待", "⏳"))
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {"time": 5.0}
         })
-        
+
         # ============ 充气阶段 ============
-        debug_print(f"💨 充气阶段开始")
         action_sequence.append(create_action_log("开始气体充气阶段", "💨"))
-        
+
         # 启动气源
-        debug_print(f"🔛 启动气源: {gas_source}")
         action_sequence.append(create_action_log(f"启动气源: {gas_source}", "🔛"))
         action_sequence.append({
             "device_id": gas_source,
             "action_name": "set_status",
             "action_kwargs": {"string": "ON"}
         })
-        
+
         # 开启气源电磁阀
         if gas_solenoid:
-            debug_print(f"🚪 打开气源电磁阀: {gas_solenoid}")
             action_sequence.append(create_action_log(f"打开气源电磁阀: {gas_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "OPEN"}
             })
-        
+
         # 充气操作
-        debug_print(f"💨 充气操作: {gas_source} -> {vessel_id}")
         action_sequence.append(create_action_log(f"开始气体充气: {gas_source} -> {vessel_id}", "💨"))
-        
+
         try:
             gas_transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=gas_source,
-                to_vessel=vessel_id,  # 🔧 使用 vessel_id
+                to_vessel=vessel_id,
                 volume=REFILL_VOLUME,
                 amount="",
                 time=0.0,
@@ -617,27 +471,25 @@ def generate_evacuateandrefill_protocol(
                 flowrate=PUMP_FLOW_RATE,
                 transfer_flowrate=PUMP_FLOW_RATE
             )
-            
+
             if gas_transfer_actions:
                 action_sequence.extend(gas_transfer_actions)
-                debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作")
                 action_sequence.append(create_action_log(f"气体充气协议完成 ({len(gas_transfer_actions)} 个操作)", "✅"))
             else:
-                debug_print("⚠️ 充气协议返回空序列，添加手动动作")
                 action_sequence.append(create_action_log("充气协议为空，使用手动等待", "⚠️"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": REFILL_TIME}
                 })
-                
+
         except Exception as e:
-            debug_print(f"❌ 气体充气失败: {str(e)}")
+            debug_print(f"气体充气失败: {str(e)}")
             action_sequence.append(create_action_log(f"气体充气失败: {str(e)}", "❌"))
             action_sequence.append({
                 "action_name": "wait",
                 "action_kwargs": {"time": REFILL_TIME}
             })
-        
+
         # 充气后等待
         refill_wait_minutes = REFILL_TIME / 60
         action_sequence.append(create_action_log(f"充气后等待 ({refill_wait_minutes:.1f} 分钟)", "⏳"))
@@ -645,29 +497,26 @@ def generate_evacuateandrefill_protocol(
             "action_name": "wait",
             "action_kwargs": {"time": REFILL_TIME}
         })
-        
+
         # 关闭气源电磁阀
         if gas_solenoid:
-            debug_print(f"🚪 关闭气源电磁阀: {gas_solenoid}")
             action_sequence.append(create_action_log(f"关闭气源电磁阀: {gas_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "CLOSED"}
             })
-        
+
         # 关闭气源
-        debug_print(f"🔴 停止气源: {gas_source}")
         action_sequence.append(create_action_log(f"停止气源: {gas_source}", "🔴"))
         action_sequence.append({
             "device_id": gas_source,
             "action_name": "set_status",
             "action_kwargs": {"string": "OFF"}
         })
-        
+
         # 循环间等待
         if cycle < repeats - 1:
-            debug_print(f"⏳ 等待下一个循环...")
             action_sequence.append(create_action_log("等待下一个循环...", "⏳"))
             action_sequence.append({
                 "action_name": "wait",
@@ -675,78 +524,58 @@ def generate_evacuateandrefill_protocol(
             })
         else:
             action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环完成", "✅"))
-    
+
     # === 停止搅拌器 ===
-    debug_print("🔍 步骤7: 停止搅拌器...")
-    
     if stirrer_id:
-        debug_print(f"🛑 停止搅拌器: {stirrer_id}")
         action_sequence.append(create_action_log(f"停止搅拌器: {stirrer_id}", "🛑"))
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
-            "action_kwargs": {"vessel": {"id": vessel_id},}  # 🔧 使用 vessel_id
+            "action_kwargs": {"vessel": {"id": vessel_id},}
         })
     else:
         action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
-    
+
     # === 最终等待 ===
     action_sequence.append(create_action_log("最终稳定等待...", "⏳"))
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10.0}
     })
-    
+
     # === 总结 ===
     total_time = (VACUUM_TIME + REFILL_TIME + 25) * repeats + 20
-    
-    debug_print("=" * 60)
-    debug_print(f"🎉 抽真空充气协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
-    debug_print(f"  🥼 处理容器: {vessel_id}")
-    debug_print(f"  💨 使用气体: {gas}")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print("=" * 60)
-    
-    # 添加完成日志
+
+    debug_print(f"抽真空充气协议生成完成: {len(action_sequence)} 个动作, 预计 {total_time:.0f}s")
+
     summary_msg = f"抽真空充气协议完成: {vessel_id} (使用 {gas}，{repeats} 次循环)"
     action_sequence.append(create_action_log(summary_msg, "🎉"))
-    
+
     return action_sequence
 
 # === 便捷函数 ===
 
-def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
     """生成氮气置换协议"""
-    vessel_id = vessel["id"]
-    debug_print(f"💨 生成氮气置换协议: {vessel_id}")
     return generate_evacuateandrefill_protocol(G, vessel, "nitrogen", **kwargs)
 
-def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
     """生成氩气置换协议"""
-    vessel_id = vessel["id"]
-    debug_print(f"💨 生成氩气置换协议: {vessel_id}")
     return generate_evacuateandrefill_protocol(G, vessel, "argon", **kwargs)
 
-def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
     """生成空气置换协议"""
-    vessel_id = vessel["id"]
-    debug_print(f"💨 生成空气置换协议: {vessel_id}")
     return generate_evacuateandrefill_protocol(G, vessel, "air", **kwargs)
 
-def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]:
     """生成惰性气氛协议"""
-    vessel_id = vessel["id"]
-    debug_print(f"🛡️ 生成惰性气氛协议: {vessel_id} (使用 {gas})")
     return generate_evacuateandrefill_protocol(G, vessel, gas, **kwargs)
 
 # 测试函数
 def test_evacuateandrefill_protocol():
     """测试抽真空充气协议"""
-    debug_print("=== 抽真空充气协议增强中文版测试 ===")
-    debug_print("✅ 测试完成")
+    debug_print("=== 抽真空充气协议测试 ===")
+    debug_print("测试完成")
 
 if __name__ == "__main__":
-    test_evacuateandrefill_protocol()
+    test_evacuateandrefill_protocol()

unilabos/compile/evacuateandrefill_protocol_old.py

@@ -1,143 +0,0 @@
-# import numpy as np
-# import networkx as nx
-
-
-# def generate_evacuateandrefill_protocol(
-#     G: nx.DiGraph, 
-#     vessel: str, 
-#     gas: str, 
-#     repeats: int = 1
-# ) -> list[dict]:
-#     """
-#     生成泵操作的动作序列。
-    
-#     :param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
-#     :param from_vessel: 容器A
-#     :param to_vessel: 容器B
-#     :param volume: 转移的体积
-#     :param flowrate: 最终注入容器B时的流速
-#     :param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
-#     :return: 泵操作的动作序列
-#     """
-    
-#     # 生成电磁阀、真空泵、气源操作的动作序列
-#     vacuum_action_sequence = []
-#     nodes = G.nodes(data=True)
-    
-#     # 找到和 vessel 相连的电磁阀和真空泵、气源
-#     vacuum_backbone = {"vessel": vessel}
-    
-#     for neighbor in G.neighbors(vessel):
-#         if nodes[neighbor]["class"].startswith("solenoid_valve"):
-#             for neighbor2 in G.neighbors(neighbor):
-#                 if neighbor2 == vessel:
-#                     continue
-#                 if nodes[neighbor2]["class"].startswith("vacuum_pump"):
-#                     vacuum_backbone.update({"vacuum_valve": neighbor, "pump": neighbor2})
-#                     break
-#                 elif nodes[neighbor2]["class"].startswith("gas_source"):
-#                     vacuum_backbone.update({"gas_valve": neighbor, "gas": neighbor2})
-#                     break
-#     # 判断是否设备齐全
-#     if len(vacuum_backbone) < 5:
-#         print(f"\n\n\n{vacuum_backbone}\n\n\n")
-#         raise ValueError("Not all devices are connected to the vessel.")
-    
-#     # 生成操作的动作序列
-#     for i in range(repeats):
-#         # 打开真空泵阀门、关闭气源阀门
-#         vacuum_action_sequence.append([
-#             {
-#                 "device_id": vacuum_backbone["vacuum_valve"],
-#                 "action_name": "set_valve_position",
-#                 "action_kwargs": {
-#                     "command": "OPEN"
-#                 }
-#             },
-#             {
-#                 "device_id": vacuum_backbone["gas_valve"],
-#                 "action_name": "set_valve_position",
-#                 "action_kwargs": {
-#                     "command": "CLOSED"
-#                 }
-#             }
-#         ])
-        
-#         # 打开真空泵、关闭气源
-#         vacuum_action_sequence.append([
-#             {
-#                 "device_id": vacuum_backbone["pump"],
-#                 "action_name": "set_status",
-#                 "action_kwargs": {
-#                     "string": "ON"
-#                 }
-#             },
-#             {
-#                 "device_id": vacuum_backbone["gas"],
-#                 "action_name": "set_status",
-#                 "action_kwargs": {
-#                     "string": "OFF"
-#                 }
-#             }
-#         ])
-#         vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
-        
-#         # 关闭真空泵阀门、打开气源阀门
-#         vacuum_action_sequence.append([
-#             {
-#                 "device_id": vacuum_backbone["vacuum_valve"],
-#                 "action_name": "set_valve_position",
-#                 "action_kwargs": {
-#                     "command": "CLOSED"
-#                 }
-#             },
-#             {
-#                 "device_id": vacuum_backbone["gas_valve"],
-#                 "action_name": "set_valve_position",
-#                 "action_kwargs": {
-#                     "command": "OPEN"
-#                 }
-#             }
-#         ])
-        
-#         # 关闭真空泵、打开气源
-#         vacuum_action_sequence.append([
-#             {
-#                 "device_id": vacuum_backbone["pump"],
-#                 "action_name": "set_status",
-#                 "action_kwargs": {
-#                     "string": "OFF"
-#                 }
-#             },
-#             {
-#                 "device_id": vacuum_backbone["gas"],
-#                 "action_name": "set_status",
-#                 "action_kwargs": {
-#                     "string": "ON"
-#                 }
-#             }
-#         ])
-#         vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
-        
-#         # 关闭气源
-#         vacuum_action_sequence.append(
-#             {
-#                 "device_id": vacuum_backbone["gas"],
-#                 "action_name": "set_status",
-#                 "action_kwargs": {
-#                     "string": "OFF"
-#                 }
-#             }
-#         )
-        
-#         # 关闭阀门
-#         vacuum_action_sequence.append(
-#             {
-#                 "device_id": vacuum_backbone["gas_valve"],
-#                 "action_name": "set_valve_position",
-#                 "action_kwargs": {
-#                     "command": "CLOSED"
-#                 }
-#             }
-#         )
-#     return vacuum_action_sequence

unilabos/compile/evaporate_protocol.py

@@ -4,128 +4,99 @@ import logging
 import re
 from .utils.vessel_parser import get_vessel
 from .utils.unit_parser import parse_time_input
+from .utils.logger_util import debug_print
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[EVAPORATE] {message}")
-
 
 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
     在组态图中查找旋转蒸发仪设备
-    
+
     Args:
         G: 设备图
         vessel: 指定的设备名称（可选）
-    
+
     Returns:
         str: 找到的旋转蒸发仪设备ID，如果没找到返回None
     """
-    debug_print("🔍 开始查找旋转蒸发仪设备... 🌪️")
-    
     # 如果指定了vessel，先检查是否存在且是旋转蒸发仪
     if vessel:
-        debug_print(f"🎯 检查指定设备: {vessel} 🔧")
         if vessel in G.nodes():
             node_data = G.nodes[vessel]
             node_class = node_data.get('class', '')
             node_type = node_data.get('type', '')
-            
-            debug_print(f"📋 设备信息 {vessel}: class={node_class}, type={node_type}")
-            
-            # 检查是否为旋转蒸发仪
+
             if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
-                debug_print(f"🎉 找到指定的旋转蒸发仪: {vessel} ✨")
+                debug_print(f"找到指定的旋转蒸发仪: {vessel}")
                 return vessel
             elif node_type == 'device':
-                debug_print(f"✅ 指定设备存在，尝试直接使用: {vessel} 🔧")
+                debug_print(f"指定设备存在，尝试直接使用: {vessel}")
                 return vessel
-        else:
-            debug_print(f"❌ 指定的设备 {vessel} 不存在 😞")
-    
+
     # 在所有设备中查找旋转蒸发仪
-    debug_print("🔎 在所有设备中搜索旋转蒸发仪... 🕵️‍♀️")
     rotavap_candidates = []
-    
+
     for node_id, node_data in G.nodes(data=True):
         node_class = node_data.get('class', '')
         node_type = node_data.get('type', '')
-        
-        # 跳过非设备节点
+
         if node_type != 'device':
             continue
-            
-        # 检查设备类型
+
         if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
             rotavap_candidates.append(node_id)
-            debug_print(f"🌟 找到旋转蒸发仪候选: {node_id} (class: {node_class}) 🌪️")
         elif any(keyword in str(node_id).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
             rotavap_candidates.append(node_id)
-            debug_print(f"🌟 找到旋转蒸发仪候选 (按名称): {node_id} 🌪️")
-    
+
     if rotavap_candidates:
-        selected = rotavap_candidates[0]  # 选择第一个找到的
-        debug_print(f"🎯 选择旋转蒸发仪: {selected} 🏆")
+        selected = rotavap_candidates[0]
+        debug_print(f"选择旋转蒸发仪: {selected}")
         return selected
-    
-    debug_print("😭 未找到旋转蒸发仪设备 💔")
+
+    debug_print("未找到旋转蒸发仪设备")
     return None
 
 def find_connected_vessel(G: nx.DiGraph, rotavap_device: str) -> Optional[str]:
     """
     查找与旋转蒸发仪连接的容器
-    
-    Args:
-        G: 设备图
-        rotavap_device: 旋转蒸发仪设备ID
-    
-    Returns:
-        str: 连接的容器ID，如果没找到返回None
     """
-    debug_print(f"🔗 查找与 {rotavap_device} 连接的容器... 🥽")
-    
-    # 查看旋转蒸发仪的子设备
     rotavap_data = G.nodes[rotavap_device]
     children = rotavap_data.get('children', [])
-    
-    debug_print(f"👶 检查子设备: {children}")
+
     for child_id in children:
         if child_id in G.nodes():
             child_data = G.nodes[child_id]
             child_type = child_data.get('type', '')
-            
+
             if child_type == 'container':
-                debug_print(f"🎉 找到连接的容器: {child_id} 🥽✨")
+                debug_print(f"找到连接的容器: {child_id}")
                 return child_id
-    
-    # 查看邻接的容器
-    debug_print("🤝 检查邻接设备...")
+
     for neighbor in G.neighbors(rotavap_device):
         neighbor_data = G.nodes[neighbor]
         neighbor_type = neighbor_data.get('type', '')
-        
+
         if neighbor_type == 'container':
-            debug_print(f"🎉 找到邻接的容器: {neighbor} 🥽✨")
+            debug_print(f"找到邻接的容器: {neighbor}")
             return neighbor
-    
-    debug_print("😞 未找到连接的容器 💔")
+
+    debug_print("未找到连接的容器")
     return None
 
 def generate_evaporate_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel: dict,
     pressure: float = 0.1,
     temp: float = 60.0,
-    time: Union[str, float] = "180",     # 🔧 修改：支持字符串时间
+    time: Union[str, float] = "180",
     stir_speed: float = 100.0,
     solvent: str = "",
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成蒸发操作的协议序列 - 支持单位和体积运算
-    
+
     Args:
         G: 设备图
         vessel: 容器字典（从XDL传入）
@@ -135,27 +106,16 @@ def generate_evaporate_protocol(
         stir_speed: 旋转速度 (RPM)，默认100
         solvent: 溶剂名称（用于参数优化）
         **kwargs: 其他参数（兼容性）
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-    
-    # 🔧 核心修改：从字典中提取容器ID
+
     vessel_id, vessel_data = get_vessel(vessel)
-    
-    debug_print("🌟" * 20)
-    debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  💨 pressure: {pressure} bar")
-    debug_print(f"  🌡️ temp: {temp}°C")
-    debug_print(f"  ⏰ time: {time} (类型: {type(time)})")
-    debug_print(f"  🌪️ stir_speed: {stir_speed} RPM")
-    debug_print(f"  🧪 solvent: '{solvent}'")
-    debug_print("🌟" * 20)
-    
-    # 🔧 新增：记录蒸发前的容器状态
-    debug_print("🔍 记录蒸发前容器状态...")
+
+    debug_print(f"开始生成蒸发协议: vessel={vessel_id}, pressure={pressure}, temp={temp}, time={time}")
+
+    # 记录蒸发前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -163,168 +123,97 @@ def generate_evaporate_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    debug_print(f"📊 蒸发前液体体积: {original_liquid_volume:.2f}mL")
-    
-    # === 步骤1: 查找旋转蒸发仪设备 ===
-    debug_print("📍 步骤1: 查找旋转蒸发仪设备... 🔍")
-    
-    # 验证vessel参数
-    if not vessel_id:
-        debug_print("❌ vessel 参数不能为空! 😱")
-        raise ValueError("vessel 参数不能为空")
-    
+
     # 查找旋转蒸发仪设备
+    if not vessel_id:
+        raise ValueError("vessel 参数不能为空")
+
     rotavap_device = find_rotavap_device(G, vessel_id)
     if not rotavap_device:
-        debug_print("💥 未找到旋转蒸发仪设备! 😭")
         raise ValueError(f"未找到旋转蒸发仪设备。请检查组态图中是否包含 class 包含 'rotavap'、'rotary' 或 'evaporat' 的设备")
-    
-    debug_print(f"🎉 成功找到旋转蒸发仪: {rotavap_device} ✨")
-    
-    # === 步骤2: 确定目标容器 ===
-    debug_print("📍 步骤2: 确定目标容器... 🥽")
-    
+
+    # 确定目标容器
     target_vessel = vessel_id
-    
-    # 如果vessel就是旋转蒸发仪设备，查找连接的容器
+
     if vessel_id == rotavap_device:
-        debug_print("🔄 vessel就是旋转蒸发仪，查找连接的容器...")
         connected_vessel = find_connected_vessel(G, rotavap_device)
         if connected_vessel:
             target_vessel = connected_vessel
-            debug_print(f"✅ 使用连接的容器: {target_vessel} 🥽✨")
         else:
-            debug_print(f"⚠️ 未找到连接的容器，使用设备本身: {rotavap_device} 🔧")
             target_vessel = rotavap_device
     elif vessel_id in G.nodes() and G.nodes[vessel_id].get('type') == 'container':
-        debug_print(f"✅ 使用指定的容器: {vessel_id} 🥽✨")
         target_vessel = vessel_id
     else:
-        debug_print(f"⚠️ 容器 '{vessel_id}' 不存在或类型不正确，使用旋转蒸发仪设备: {rotavap_device} 🔧")
         target_vessel = rotavap_device
-    
-    # === 🔧 新增：步骤3：单位解析处理 ===
-    debug_print("📍 步骤3: 单位解析处理... ⚡")
-    
-    # 解析时间
+
+    # 单位解析处理
     final_time = parse_time_input(time)
-    debug_print(f"🎯 时间解析完成: {time} → {final_time}s ({final_time/60:.1f}分钟) ⏰✨")
-    
-    # === 步骤4: 参数验证和修正 ===
-    debug_print("📍 步骤4: 参数验证和修正... 🔧")
-    
-    # 修正参数范围
+    debug_print(f"时间解析: {time} -> {final_time}s ({final_time/60:.1f}分钟)")
+
+    # 参数验证和修正
     if pressure <= 0 or pressure > 1.0:
-        debug_print(f"⚠️ 真空度 {pressure} bar 超出范围，修正为 0.1 bar 💨")
         pressure = 0.1
-    else:
-        debug_print(f"✅ 真空度 {pressure} bar 在正常范围内 💨")
-    
+
     if temp < 10.0 or temp > 200.0:
-        debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 60°C 🌡️")
         temp = 60.0
-    else:
-        debug_print(f"✅ 温度 {temp}°C 在正常范围内 🌡️")
-    
+
     if final_time <= 0:
-        debug_print(f"⚠️ 时间 {final_time}s 无效，修正为 180s (3分钟) ⏰")
         final_time = 180.0
-    else:
-        debug_print(f"✅ 时间 {final_time}s ({final_time/60:.1f}分钟) 有效 ⏰")
-    
+
     if stir_speed < 10.0 or stir_speed > 300.0:
-        debug_print(f"⚠️ 旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM 🌪️")
         stir_speed = 100.0
-    else:
-        debug_print(f"✅ 旋转速度 {stir_speed} RPM 在正常范围内 🌪️")
-    
+
     # 根据溶剂优化参数
     if solvent:
-        debug_print(f"🧪 根据溶剂 '{solvent}' 优化参数... 🔬")
         solvent_lower = solvent.lower()
-        
+
         if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
             temp = max(temp, 80.0)
             pressure = max(pressure, 0.2)
-            debug_print("💧 水系溶剂：提高温度和真空度 🌡️💨")
         elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
             temp = min(temp, 50.0)
             pressure = min(pressure, 0.05)
-            debug_print("🍺 易挥发溶剂：降低温度和真空度 🌡️💨")
         elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
             temp = max(temp, 100.0)
             pressure = min(pressure, 0.01)
-            debug_print("🔥 高沸点溶剂：提高温度，降低真空度 🌡️💨")
-        else:
-            debug_print("🧪 通用溶剂，使用标准参数 ✨")
-    else:
-        debug_print("🤷‍♀️ 未指定溶剂，使用默认参数 ✨")
-    
-    debug_print(f"🎯 最终参数: pressure={pressure} bar 💨, temp={temp}°C 🌡️, time={final_time}s ⏰, stir_speed={stir_speed} RPM 🌪️")
-    
-    # === 🔧 新增：步骤5：蒸发体积计算 ===
-    debug_print("📍 步骤5: 蒸发体积计算... 📊")
-    
-    # 根据温度、真空度、时间和溶剂类型估算蒸发量
+
+    debug_print(f"最终参数: pressure={pressure}bar, temp={temp}°C, time={final_time}s, stir_speed={stir_speed}RPM")
+
+    # 蒸发体积计算
     evaporation_volume = 0.0
     if original_liquid_volume > 0:
-        # 基础蒸发速率（mL/min）
-        base_evap_rate = 0.5  # 基础速率
-        
-        # 温度系数（高温蒸发更快）
+        base_evap_rate = 0.5
         temp_factor = 1.0 + (temp - 25.0) / 100.0
-        
-        # 真空系数（真空度越高蒸发越快）
         vacuum_factor = 1.0 + (1.0 - pressure) * 2.0
-        
-        # 溶剂系数
+
         solvent_factor = 1.0
         if solvent:
             solvent_lower = solvent.lower()
             if any(s in solvent_lower for s in ['water', 'h2o']):
-                solvent_factor = 0.8  # 水蒸发较慢
+                solvent_factor = 0.8
             elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
-                solvent_factor = 1.5  # 易挥发溶剂蒸发快
+                solvent_factor = 1.5
             elif any(s in solvent_lower for s in ['dmso', 'dmi']):
-                solvent_factor = 0.3  # 高沸点溶剂蒸发慢
-        
-        # 计算总蒸发量
+                solvent_factor = 0.3
+
         total_evap_rate = base_evap_rate * temp_factor * vacuum_factor * solvent_factor
         evaporation_volume = min(
-            original_liquid_volume * 0.95,  # 最多蒸发95%
-            total_evap_rate * (final_time / 60.0)  # 时间相关的蒸发量
+            original_liquid_volume * 0.95,
+            total_evap_rate * (final_time / 60.0)
         )
-        
-        debug_print(f"📊 蒸发量计算:")
-        debug_print(f"  - 基础蒸发速率: {base_evap_rate} mL/min")
-        debug_print(f"  - 温度系数: {temp_factor:.2f} (基于 {temp}°C)")
-        debug_print(f"  - 真空系数: {vacuum_factor:.2f} (基于 {pressure} bar)")
-        debug_print(f"  - 溶剂系数: {solvent_factor:.2f} ({solvent or '通用'})")
-        debug_print(f"  - 总蒸发速率: {total_evap_rate:.2f} mL/min")
-        debug_print(f"  - 预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
-    
-    # === 步骤6: 生成动作序列 ===
-    debug_print("📍 步骤6: 生成动作序列... 🎬")
-    
+
+        debug_print(f"预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
+
+    # 生成动作序列
     action_sequence = []
-    
+
     # 1. 等待稳定
-    debug_print("  🔄 动作1: 添加初始等待稳定... ⏳")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10}
     })
-    debug_print("  ✅ 初始等待动作已添加 ⏳✨")
-    
+
     # 2. 执行蒸发
-    debug_print(f"  🌪️ 动作2: 执行蒸发操作...")
-    debug_print(f"    🔧 设备: {rotavap_device}")
-    debug_print(f"    🥽 容器: {target_vessel}")
-    debug_print(f"    💨 真空度: {pressure} bar")
-    debug_print(f"    🌡️ 温度: {temp}°C")
-    debug_print(f"    ⏰ 时间: {final_time}s ({final_time/60:.1f}分钟)")
-    debug_print(f"    🌪️ 旋转速度: {stir_speed} RPM")
-    
     evaporate_action = {
         "device_id": rotavap_device,
         "action_name": "evaporate",
@@ -332,20 +221,17 @@ def generate_evaporate_protocol(
             "vessel": {"id": target_vessel},
             "pressure": float(pressure),
             "temp": float(temp),
-            "time": float(final_time),  # 🔧 强制转换为float类型
+            "time": float(final_time),
             "stir_speed": float(stir_speed),
             "solvent": str(solvent)
         }
     }
     action_sequence.append(evaporate_action)
-    debug_print("  ✅ 蒸发动作已添加 🌪️✨")
-    
-    # 🔧 新增：蒸发过程中的体积变化
-    debug_print("  🔧 更新容器体积 - 蒸发过程...")
+
+    # 蒸发过程中的体积变化
     if evaporation_volume > 0:
         new_volume = max(0.0, original_liquid_volume - evaporation_volume)
-        
-        # 更新vessel字典中的体积
+
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
             if isinstance(current_volume, list):
@@ -357,15 +243,14 @@ def generate_evaporate_protocol(
                 vessel["data"]["liquid_volume"] = new_volume
             else:
                 vessel["data"]["liquid_volume"] = new_volume
-        
-        # 🔧 同时更新图中的容器数据
+
         if vessel_id in G.nodes():
             if 'data' not in G.nodes[vessel_id]:
                 G.nodes[vessel_id]['data'] = {}
-            
+
             vessel_node_data = G.nodes[vessel_id]['data']
             current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-            
+
             if isinstance(current_node_volume, list):
                 if len(current_node_volume) > 0:
                     G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -373,18 +258,16 @@ def generate_evaporate_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-        
-        debug_print(f"  📊 蒸发体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
-    
+
+        debug_print(f"蒸发体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
+
     # 3. 蒸发后等待
-    debug_print("  🔄 动作3: 添加蒸发后等待... ⏳")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10}
     })
-    debug_print("  ✅ 蒸发后等待动作已添加 ⏳✨")
-    
-    # 🔧 新增：蒸发完成后的状态报告
+
+    # 最终状态
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -392,19 +275,7 @@ def generate_evaporate_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-    
-    # === 总结 ===
-    debug_print("🎊" * 20)
-    debug_print(f"🎉 蒸发协议生成完成! ✨")
-    debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
-    debug_print(f"🌪️ 旋转蒸发仪: {rotavap_device} 🔧")
-    debug_print(f"🥽 目标容器: {target_vessel} 🧪")
-    debug_print(f"⚙️ 蒸发参数: {pressure} bar 💨, {temp}°C 🌡️, {final_time}s ⏰, {stir_speed} RPM 🌪️")
-    debug_print(f"⏱️ 预计总时间: {(final_time + 20)/60:.1f} 分钟 ⌛")
-    debug_print(f"📊 体积变化:")
-    debug_print(f"  - 蒸发前: {original_liquid_volume:.2f}mL")
-    debug_print(f"  - 蒸发后: {final_liquid_volume:.2f}mL") 
-    debug_print(f"  - 蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/max(original_liquid_volume, 0.01)*100:.1f}%)")
-    debug_print("🎊" * 20)
-    
+
+    debug_print(f"蒸发协议生成完成: {len(action_sequence)} 个动作, 设备={rotavap_device}, 容器={target_vessel}")
+
     return action_sequence

unilabos/compile/filter_protocol.py

@@ -2,87 +2,64 @@ from typing import List, Dict, Any, Optional
 import networkx as nx
 import logging
 from .utils.vessel_parser import get_vessel
+from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[FILTER] {message}")
-
 def find_filter_device(G: nx.DiGraph) -> str:
     """查找过滤器设备"""
-    debug_print("🔍 查找过滤器设备... 🌊")
-    
-    # 查找过滤器设备
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-        
+
         if 'filter' in node_class.lower() or 'filter' in node.lower():
-            debug_print(f"🎉 找到过滤器设备: {node} ✨")
+            debug_print(f"找到过滤器设备: {node}")
             return node
-    
-    # 如果没找到，寻找可能的过滤器名称
-    debug_print("🔎 在预定义名称中搜索过滤器... 📋")
+
     possible_names = ["filter", "filter_1", "virtual_filter", "filtration_unit"]
     for name in possible_names:
         if name in G.nodes():
-            debug_print(f"🎉 找到过滤器设备: {name} ✨")
+            debug_print(f"找到过滤器设备: {name}")
             return name
-    
-    debug_print("😭 未找到过滤器设备 💔")
+
     raise ValueError("未找到过滤器设备")
 
 def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") -> None:
     """验证容器是否存在"""
-    debug_print(f"🔍 验证{vessel_type}: '{vessel}' 🧪")
-    
     if not vessel:
-        debug_print(f"❌ {vessel_type}不能为空! 😱")
         raise ValueError(f"{vessel_type}不能为空")
-    
+
     if vessel not in G.nodes():
-        debug_print(f"❌ {vessel_type} '{vessel}' 不存在于系统中! 😞")
         raise ValueError(f"{vessel_type} '{vessel}' 不存在于系统中")
-    
-    debug_print(f"✅ {vessel_type} '{vessel}' 验证通过 🎯")
 
 def generate_filter_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel: dict,
     filtrate_vessel: dict = {"id": "waste"},
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成过滤操作的协议序列 - 支持体积运算
-    
+
     Args:
         G: 设备图
         vessel: 过滤容器字典（必需）- 包含需要过滤的混合物
         filtrate_vessel: 滤液容器名称（可选）- 如果提供则收集滤液
         **kwargs: 其他参数（兼容性）
-    
+
     Returns:
         List[Dict[str, Any]]: 过滤操作的动作序列
     """
-    
-    # 🔧 核心修改：从字典中提取容器ID
+
     vessel_id, vessel_data = get_vessel(vessel)
     filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
-    
-    debug_print("🌊" * 20)
-    debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  🧪 filtrate_vessel: {filtrate_vessel}")
-    debug_print(f"  ⚙️ 其他参数: {kwargs}")
-    debug_print("🌊" * 20)
-    
+
+    debug_print(f"开始生成过滤协议: vessel={vessel_id}, filtrate_vessel={filtrate_vessel_id}")
+
     action_sequence = []
-    
-    # 🔧 新增：记录过滤前的容器状态
-    debug_print("🔍 记录过滤前容器状态...")
+
+    # 记录过滤前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -90,79 +67,45 @@ def generate_filter_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    debug_print(f"📊 过滤前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # === 参数验证 ===
-    debug_print("📍 步骤1: 参数验证... 🔧")
-    
-    # 验证必需参数
-    debug_print("  🔍 验证必需参数...")
-    validate_vessel(G, vessel_id, "过滤容器")  # 🔧 使用 vessel_id
-    debug_print("  ✅ 必需参数验证完成 🎯")
-    
-    # 验证可选参数
-    debug_print("  🔍 验证可选参数...")
+    validate_vessel(G, vessel_id, "过滤容器")
+
     if filtrate_vessel:
         validate_vessel(G, filtrate_vessel_id, "滤液容器")
-        debug_print("  🌊 模式: 过滤并收集滤液 💧")
-    else:
-        debug_print("  🧱 模式: 过滤并收集固体 🔬")
-    debug_print("  ✅ 可选参数验证完成 🎯")
-    
+
     # === 查找设备 ===
-    debug_print("📍 步骤2: 查找设备... 🔍")
-    
     try:
-        debug_print("  🔎 搜索过滤器设备...")
         filter_device = find_filter_device(G)
-        debug_print(f"  🎉 使用过滤器设备: {filter_device} 🌊✨")
-        
+        debug_print(f"使用过滤器设备: {filter_device}")
     except Exception as e:
-        debug_print(f"  ❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"设备查找失败: {str(e)}")
-    
-    # 🔧 新增：过滤效率和体积分配估算
-    debug_print("📍 步骤2.5: 过滤体积分配估算... 📊")
-    
-    # 估算过滤分离比例（基于经验数据）
-    solid_ratio = 0.1  # 假设10%是固体（保留在过滤器上）
-    liquid_ratio = 0.9  # 假设90%是液体（通过过滤器）
-    volume_loss_ratio = 0.05  # 假设5%体积损失（残留在过滤器等）
-    
-    # 从kwargs中获取过滤参数进行优化
+
+    # 过滤体积分配估算
+    solid_ratio = 0.1
+    liquid_ratio = 0.9
+    volume_loss_ratio = 0.05
+
     if "solid_content" in kwargs:
         try:
             solid_ratio = float(kwargs["solid_content"])
             liquid_ratio = 1.0 - solid_ratio
-            debug_print(f"📋 使用指定的固体含量: {solid_ratio*100:.1f}%")
         except:
-            debug_print("⚠️ 固体含量参数无效，使用默认值")
-    
+            pass
+
     if original_liquid_volume > 0:
         expected_filtrate_volume = original_liquid_volume * liquid_ratio * (1.0 - volume_loss_ratio)
         expected_solid_volume = original_liquid_volume * solid_ratio
         volume_loss = original_liquid_volume * volume_loss_ratio
-        
-        debug_print(f"📊 过滤体积分配估算:")
-        debug_print(f"  - 原始体积: {original_liquid_volume:.2f}mL")
-        debug_print(f"  - 预计滤液体积: {expected_filtrate_volume:.2f}mL ({liquid_ratio*100:.1f}%)")
-        debug_print(f"  - 预计固体体积: {expected_solid_volume:.2f}mL ({solid_ratio*100:.1f}%)")
-        debug_print(f"  - 预计损失体积: {volume_loss:.2f}mL ({volume_loss_ratio*100:.1f}%)")
-    
+
     # === 转移到过滤器（如果需要）===
-    debug_print("📍 步骤3: 转移到过滤器... 🚚")
-    
-    if vessel_id != filter_device:  # 🔧 使用 vessel_id
-        debug_print(f"  🚛 需要转移: {vessel_id} → {filter_device} 📦")
-        
+    if vessel_id != filter_device:
         try:
-            debug_print("  🔄 开始执行转移操作...")
-            # 使用pump protocol转移液体到过滤器
             transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel={"id": vessel_id},  # 🔧 使用 vessel_id
+                from_vessel={"id": vessel_id},
                 to_vessel={"id": filter_device},
-                volume=0.0,  # 转移所有液体
+                volume=0.0,
                 amount="",
                 time=0.0,
                 viscous=False,
@@ -173,88 +116,59 @@ def generate_filter_protocol(
                 flowrate=2.0,
                 transfer_flowrate=2.0
             )
-            
+
             if transfer_actions:
                 action_sequence.extend(transfer_actions)
-                debug_print(f"  ✅ 添加了 {len(transfer_actions)} 个转移动作 🚚✨")
-                
-                # 🔧 新增：转移后更新容器体积
-                debug_print("  🔧 更新转移后的容器体积...")
-                
-                # 原容器体积变为0（所有液体已转移）
+                debug_print(f"添加了 {len(transfer_actions)} 个转移动作")
+
+                # 更新容器体积
                 if "data" in vessel and "liquid_volume" in vessel["data"]:
                     current_volume = vessel["data"]["liquid_volume"]
                     if isinstance(current_volume, list):
                         vessel["data"]["liquid_volume"] = [0.0] if len(current_volume) > 0 else [0.0]
                     else:
                         vessel["data"]["liquid_volume"] = 0.0
-                
-                # 同时更新图中的容器数据
+
                 if vessel_id in G.nodes():
                     if 'data' not in G.nodes[vessel_id]:
                         G.nodes[vessel_id]['data'] = {}
                     G.nodes[vessel_id]['data']['liquid_volume'] = 0.0
-                
-                debug_print(f"  📊 转移完成，{vessel_id} 体积更新为 0.0mL")
-                
-            else:
-                debug_print("  ⚠️ 转移协议返回空序列 🤔")
-                
+
         except Exception as e:
-            debug_print(f"  ❌ 转移失败: {str(e)} 😞")
-            debug_print("  🔄 继续执行，可能是直接连接的过滤器 🤞")
-    else:
-        debug_print("  ✅ 过滤容器就是过滤器，无需转移 🎯")
-    
+            debug_print(f"转移失败: {str(e)}，继续执行")
+
     # === 执行过滤操作 ===
-    debug_print("📍 步骤4: 执行过滤操作... 🌊")
-    
-    # 构建过滤动作参数
-    debug_print("  ⚙️ 构建过滤参数...")
     filter_kwargs = {
-        "vessel": {"id": filter_device},  # 过滤器设备
-        "filtrate_vessel": {"id": filtrate_vessel_id},  # 滤液容器（可能为空）
+        "vessel": {"id": filter_device},
+        "filtrate_vessel": {"id": filtrate_vessel_id},
         "stir": kwargs.get("stir", False),
         "stir_speed": kwargs.get("stir_speed", 0.0),
         "temp": kwargs.get("temp", 25.0),
         "continue_heatchill": kwargs.get("continue_heatchill", False),
-        "volume": kwargs.get("volume", 0.0)  # 0表示过滤所有
+        "volume": kwargs.get("volume", 0.0)
     }
-    
-    debug_print(f"  📋 过滤参数: {filter_kwargs}")
-    debug_print("  🌊 开始过滤操作...")
-    
-    # 过滤动作
+
     filter_action = {
         "device_id": filter_device,
         "action_name": "filter",
         "action_kwargs": filter_kwargs
     }
     action_sequence.append(filter_action)
-    debug_print("  ✅ 过滤动作已添加 🌊✨")
-    
+
     # 过滤后等待
-    debug_print("  ⏳ 添加过滤后等待...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10.0}
     })
-    debug_print("  ✅ 过滤后等待动作已添加 ⏰✨")
-    
+
     # === 收集滤液（如果需要）===
-    debug_print("📍 步骤5: 收集滤液... 💧")
-    
     if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
-        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
-        
         try:
-            debug_print("  🔄 开始执行收集操作...")
-            # 使用pump protocol收集滤液
             collect_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=filter_device,
                 to_vessel=filtrate_vessel,
-                volume=0.0,  # 收集所有滤液
+                volume=0.0,
                 amount="",
                 time=0.0,
                 viscous=False,
@@ -265,19 +179,15 @@ def generate_filter_protocol(
                 flowrate=2.0,
                 transfer_flowrate=2.0
             )
-            
+
             if collect_actions:
                 action_sequence.extend(collect_actions)
-                debug_print(f"  ✅ 添加了 {len(collect_actions)} 个收集动作 🧪✨")
-                
-                # 🔧 新增：收集滤液后的体积更新
-                debug_print("  🔧 更新滤液容器体积...")
-                
-                # 更新filtrate_vessel在图中的体积（如果它是节点）
+
+                # 更新滤液容器体积
                 if filtrate_vessel_id in G.nodes():
                     if 'data' not in G.nodes[filtrate_vessel_id]:
                         G.nodes[filtrate_vessel_id]['data'] = {}
-                    
+
                     current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
                     if isinstance(current_filtrate_volume, list):
                         if len(current_filtrate_volume) > 0:
@@ -286,58 +196,37 @@ def generate_filter_protocol(
                             G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
                     else:
                         G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
-                    
-                    debug_print(f"  📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
-                
-            else:
-                debug_print("  ⚠️ 收集协议返回空序列 🤔")
-                
+
         except Exception as e:
-            debug_print(f"  ❌ 收集滤液失败: {str(e)} 😞")
-            debug_print("  🔄 继续执行，可能滤液直接流入指定容器 🤞")
-    else:
-        debug_print("  🧱 未指定滤液容器，固体保留在过滤器中 🔬")
-    
-    # 🔧 新增：过滤完成后的容器状态更新
-    debug_print("📍 步骤5.5: 过滤完成后状态更新... 📊")
-    
+            debug_print(f"收集滤液失败: {str(e)}，继续执行")
+
+    # 过滤完成后容器状态更新
     if vessel_id == filter_device:
-        # 如果过滤容器就是过滤器，需要更新其体积状态
         if original_liquid_volume > 0:
             if filtrate_vessel:
-                # 收集滤液模式：过滤器中主要保留固体
                 remaining_volume = expected_solid_volume
-                debug_print(f"  🧱 过滤器中保留固体: {remaining_volume:.2f}mL")
             else:
-                # 保留固体模式：过滤器中保留所有物质
                 remaining_volume = original_liquid_volume * (1.0 - volume_loss_ratio)
-                debug_print(f"  🔬 过滤器中保留所有物质: {remaining_volume:.2f}mL")
-            
-            # 更新vessel字典中的体积
+
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     vessel["data"]["liquid_volume"] = [remaining_volume] if len(current_volume) > 0 else [remaining_volume]
                 else:
                     vessel["data"]["liquid_volume"] = remaining_volume
-            
-            # 同时更新图中的容器数据
+
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
                 G.nodes[vessel_id]['data']['liquid_volume'] = remaining_volume
-            
-            debug_print(f"  📊 过滤器 {vessel_id} 体积更新为: {remaining_volume:.2f}mL")
-    
+
     # === 最终等待 ===
-    debug_print("📍 步骤6: 最终等待... ⏰")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 5.0}
     })
-    debug_print("  ✅ 最终等待动作已添加 ⏰✨")
-    
-    # 🔧 新增：过滤完成后的状态报告
+
+    # 最终状态
     final_vessel_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -345,22 +234,7 @@ def generate_filter_protocol(
             final_vessel_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_vessel_volume = current_volume
-    
-    # === 总结 ===
-    debug_print("🎊" * 20)
-    debug_print(f"🎉 过滤协议生成完成! ✨")
-    debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
-    debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
-    debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
-    debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
-    debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
-    if original_liquid_volume > 0:
-        debug_print(f"📊 体积变化统计:")
-        debug_print(f"  - 过滤前体积: {original_liquid_volume:.2f}mL")
-        debug_print(f"  - 过滤后容器体积: {final_vessel_volume:.2f}mL")
-        if filtrate_vessel:
-            debug_print(f"  - 预计滤液体积: {expected_filtrate_volume:.2f}mL")
-        debug_print(f"  - 预计损失体积: {volume_loss:.2f}mL")
-    debug_print("🎊" * 20)
-    
+
+    debug_print(f"过滤协议生成完成: {len(action_sequence)} 个动作, 容器={vessel_id}, 过滤器={filter_device}")
+
     return action_sequence

unilabos/compile/heatchill_protocol.py

@@ -1,118 +1,24 @@
 from typing import List, Dict, Any, Union
 import networkx as nx
-import logging
-import re
-from .utils.vessel_parser import get_vessel
-from .utils.unit_parser import parse_time_input
+from .utils.vessel_parser import get_vessel, find_connected_heatchill
+from .utils.unit_parser import parse_time_input, parse_temperature_input
+from .utils.logger_util import debug_print
 
-logger = logging.getLogger(__name__)
-
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[HEATCHILL] {message}")
-
-
-def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
-    """
-    解析温度输入（统一函数）
-    
-    Args:
-        temp_input: 温度输入
-        default_temp: 默认温度
-        
-    Returns:
-        float: 温度（°C）
-    """
-    if not temp_input:
-        return default_temp
-    
-    # 🔢 数值输入
-    if isinstance(temp_input, (int, float)):
-        result = float(temp_input)
-        debug_print(f"🌡️ 数值温度: {temp_input} → {result}°C")
-        return result
-    
-    # 📝 字符串输入
-    temp_str = str(temp_input).lower().strip()
-    debug_print(f"🔍 解析温度: '{temp_str}'")
-    
-    # 🎯 特殊温度
-    special_temps = {
-        "room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
-        "boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0
-    }
-    
-    if temp_str in special_temps:
-        result = special_temps[temp_str]
-        debug_print(f"🎯 特殊温度: '{temp_str}' → {result}°C")
-        return result
-    
-    # 📐 正则解析（如 "256 °C"）
-    temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
-    match = re.search(temp_pattern, temp_str)
-    
-    if match:
-        result = float(match.group(1))
-        debug_print(f"✅ 温度解析: '{temp_str}' → {result}°C")
-        return result
-    
-    debug_print(f"⚠️ 无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
-    return default_temp
-
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """查找与指定容器相连的加热/冷却设备"""
-    debug_print(f"🔍 查找加热设备，目标容器: {vessel}")
-    
-    # 🔧 查找所有加热设备
-    heatchill_nodes = []
-    for node in G.nodes():
-        node_data = G.nodes[node]
-        node_class = node_data.get('class', '') or ''
-        
-        if 'heatchill' in node_class.lower() or 'virtual_heatchill' in node_class:
-            heatchill_nodes.append(node)
-            debug_print(f"🎉 找到加热设备: {node}")
-    
-    # 🔗 检查连接
-    if vessel and heatchill_nodes:
-        for heatchill in heatchill_nodes:
-            if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-                debug_print(f"✅ 加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
-                return heatchill
-    
-    # 🎯 使用第一个可用设备
-    if heatchill_nodes:
-        selected = heatchill_nodes[0]
-        debug_print(f"🔧 使用第一个加热设备: {selected}")
-        return selected
-    
-    # 🆘 默认设备
-    debug_print("⚠️ 未找到加热设备，使用默认设备")
-    return "heatchill_1"
 
 def validate_and_fix_params(temp: float, time: float, stir_speed: float) -> tuple:
     """验证和修正参数"""
-    # 🌡️ 温度范围验证
     if temp < -50.0 or temp > 300.0:
         debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 25°C")
         temp = 25.0
-    else:
-        debug_print(f"✅ 温度 {temp}°C 在正常范围内")
-    
-    # ⏰ 时间验证
+
     if time < 0:
         debug_print(f"⚠️ 时间 {time}s 无效，修正为 300s")
         time = 300.0
-    else:
-        debug_print(f"✅ 时间 {time}s ({time/60:.1f}分钟) 有效")
-    
-    # 🌪️ 搅拌速度验证
+
     if stir_speed < 0 or stir_speed > 1500.0:
         debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
         stir_speed = 300.0
-    else:
-        debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内")
-    
+
     return temp, time, stir_speed
 
 def generate_heat_chill_protocol(
@@ -131,7 +37,7 @@ def generate_heat_chill_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成加热/冷却操作的协议序列 - 支持vessel字典
-    
+
     Args:
         G: 设备图
         vessel: 容器字典（从XDL传入）
@@ -145,82 +51,58 @@ def generate_heat_chill_protocol(
         stir_speed: 搅拌速度 (RPM)
         purpose: 操作目的说明
         **kwargs: 其他参数（兼容性）
-    
+
     Returns:
         List[Dict[str, Any]]: 加热/冷却操作的动作序列
     """
-    
+
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
-    debug_print("🌡️" * 20)
-    debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  🌡️ temp: {temp}°C")
-    debug_print(f"  ⏰ time: {time}")
-    debug_print(f"  🎯 temp_spec: {temp_spec}")
-    debug_print(f"  ⏱️ time_spec: {time_spec}")
-    debug_print(f"  🌪️ stir: {stir} ({stir_speed} RPM)")
-    debug_print(f"  🎭 purpose: '{purpose}'")
-    debug_print("🌡️" * 20)
-    
-    # 📋 参数验证
-    debug_print("📍 步骤1: 参数验证... 🔧")
-    if not vessel_id:  # 🔧 使用 vessel_id
-        debug_print("❌ vessel 参数不能为空! 😱")
+
+    debug_print(f"开始生成加热冷却协议: vessel={vessel_id}, temp={temp}°C, "
+                f"time={time}, stir={stir} ({stir_speed} RPM), purpose='{purpose}'")
+
+    # 参数验证
+    if not vessel_id:
         raise ValueError("vessel 参数不能为空")
-    
-    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
+
+    if vessel_id not in G.nodes():
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
-    
-    debug_print("✅ 基础参数验证通过 🎯")
-    
-    # 🔄 参数解析
-    debug_print("📍 步骤2: 参数解析... ⚡")
-    
-    #温度解析：优先使用 temp_spec
-    final_temp = parse_temp_input(temp_spec, temp) if temp_spec else temp
-    
+
+    # 参数解析
+    # 温度解析：优先使用 temp_spec
+    final_temp = parse_temperature_input(temp_spec, temp) if temp_spec else temp
+
     # 时间解析：优先使用 time_spec
     final_time = parse_time_input(time_spec) if time_spec else parse_time_input(time)
-    
+
     # 参数修正
     final_temp, final_time, stir_speed = validate_and_fix_params(final_temp, final_time, stir_speed)
-    
-    debug_print(f"🎯 最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
-    
-    # 🔍 查找设备
-    debug_print("📍 步骤3: 查找加热设备... 🔍")
+
+    debug_print(f"最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
+
+    # 查找设备
     try:
-        heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
-        debug_print(f"🎉 使用加热设备: {heatchill_id} ✨")
+        heatchill_id = find_connected_heatchill(G, vessel_id)
+        debug_print(f"使用加热设备: {heatchill_id}")
     except Exception as e:
-        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到加热设备: {str(e)}")
-    
-    # 🚀 生成动作
-    debug_print("📍 步骤4: 生成加热动作... 🔥")
-    
-    # 🕐 模拟运行时间优化
-    debug_print("  ⏱️ 检查模拟运行时间限制...")
+
+    # 生成动作
+    # 模拟运行时间优化
     original_time = final_time
     simulation_time_limit = 100.0  # 模拟运行时间限制：100秒
-    
+
     if final_time > simulation_time_limit:
         final_time = simulation_time_limit
-        debug_print(f"  🎮 模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s) ⚡")
-        debug_print(f"  📊 时间缩短: {original_time/60:.1f}分钟 → {final_time/60:.1f}分钟 🚀")
-    else:
-        debug_print(f"  ✅ 时间在限制内: {final_time}s ({final_time/60:.1f}分钟) 保持不变 🎯")
-    
+        debug_print(f"模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s)")
+
     action_sequence = []
     heatchill_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel},
+            "vessel": {"id": vessel_id},
             "temp": float(final_temp),
             "time": float(final_time),
             "stir": bool(stir),
@@ -229,21 +111,10 @@ def generate_heat_chill_protocol(
         }
     }
     action_sequence.append(heatchill_action)
-    debug_print("✅ 加热动作已添加 🔥✨")
-    
-    # 显示时间调整信息
-    if original_time != final_time:
-        debug_print(f"  🎭 模拟优化说明: 原计划 {original_time/60:.1f}分钟，实际模拟 {final_time/60:.1f}分钟 ⚡")
-    
-    # 🎊 总结
-    debug_print("🎊" * 20)
-    debug_print(f"🎉 加热冷却协议生成完成! ✨")
-    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
-    debug_print(f"🥽 加热容器: {vessel_id}")
-    debug_print(f"🌡️ 目标温度: {final_temp}°C")
-    debug_print(f"⏰ 加热时间: {final_time}s ({final_time/60:.1f}分钟)")
-    debug_print("🎊" * 20)
-    
+
+    debug_print(f"加热冷却协议生成完成: {len(action_sequence)} 个动作, "
+                f"vessel={vessel_id}, temp={final_temp}°C, time={final_time}s")
+
     return action_sequence
 
 def generate_heat_chill_to_temp_protocol(
@@ -255,7 +126,7 @@ def generate_heat_chill_to_temp_protocol(
 ) -> List[Dict[str, Any]]:
     """生成加热到指定温度的协议（简化版）"""
     vessel_id, _ = get_vessel(vessel)
-    debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
+    debug_print(f"生成加热到温度协议: {vessel_id} → {temp}°C")
     return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
 
 def generate_heat_chill_start_protocol(
@@ -266,21 +137,19 @@ def generate_heat_chill_start_protocol(
     **kwargs
 ) -> List[Dict[str, Any]]:
     """生成开始加热操作的协议序列"""
-    
+
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, _ = get_vessel(vessel)
-    
-    debug_print("🔥 开始生成启动加热协议 ✨")
-    debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
-    
+
+    debug_print(f"生成启动加热协议: vessel={vessel_id}, temp={temp}°C")
+
     # 基础验证
-    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print("❌ 容器验证失败!")
+    if not vessel_id or vessel_id not in G.nodes():
         raise ValueError("vessel 参数无效")
-    
+
     # 查找设备
-    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
-    
+    heatchill_id = find_connected_heatchill(G, vessel_id)
+
     # 生成动作
     action_sequence = [{
         "device_id": heatchill_id,
@@ -291,8 +160,8 @@ def generate_heat_chill_start_protocol(
             "vessel": {"id": vessel_id},
         }
     }]
-    
-    debug_print(f"✅ 启动加热协议生成完成 🎯")
+
+    debug_print(f"启动加热协议生成完成")
     return action_sequence
 
 def generate_heat_chill_stop_protocol(
@@ -301,21 +170,19 @@ def generate_heat_chill_stop_protocol(
     **kwargs
 ) -> List[Dict[str, Any]]:
     """生成停止加热操作的协议序列"""
-    
+
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, _ = get_vessel(vessel)
-    
-    debug_print("🛑 开始生成停止加热协议 ✨")
-    debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
-    
+
+    debug_print(f"生成停止加热协议: vessel={vessel_id}")
+
     # 基础验证
-    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print("❌ 容器验证失败!")
+    if not vessel_id or vessel_id not in G.nodes():
         raise ValueError("vessel 参数无效")
-    
+
     # 查找设备
-    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
-    
+    heatchill_id = find_connected_heatchill(G, vessel_id)
+
     # 生成动作
     action_sequence = [{
         "device_id": heatchill_id,
@@ -323,6 +190,6 @@ def generate_heat_chill_stop_protocol(
         "action_kwargs": {
         }
     }]
-    
-    debug_print(f"✅ 停止加热协议生成完成 🎯")
+
+    debug_print(f"停止加热协议生成完成")
     return action_sequence

unilabos/compile/hydrogenate_protocol.py

@@ -1,105 +1,50 @@
 import networkx as nx
 from typing import List, Dict, Any, Optional
 from .utils.vessel_parser import get_vessel
-
-
-def parse_temperature(temp_str: str) -> float:
-    """
-    解析温度字符串，支持多种格式
-    
-    Args:
-        temp_str: 温度字符串（如 "45 °C", "45°C", "45"）
-    
-    Returns:
-        float: 温度值（摄氏度）
-    """
-    try:
-        # 移除常见的温度单位和符号
-        temp_clean = temp_str.replace("°C", "").replace("°", "").replace("C", "").strip()
-        return float(temp_clean)
-    except ValueError:
-        print(f"HYDROGENATE: 无法解析温度 '{temp_str}'，使用默认温度 25°C")
-        return 25.0
-
-
-def parse_time(time_str: str) -> float:
-    """
-    解析时间字符串，支持多种格式
-    
-    Args:
-        time_str: 时间字符串（如 "2 h", "120 min", "7200 s"）
-    
-    Returns:
-        float: 时间值（秒）
-    """
-    try:
-        time_clean = time_str.lower().strip()
-        
-        # 处理小时
-        if "h" in time_clean:
-            hours = float(time_clean.replace("h", "").strip())
-            return hours * 3600.0
-        
-        # 处理分钟
-        if "min" in time_clean:
-            minutes = float(time_clean.replace("min", "").strip())
-            return minutes * 60.0
-        
-        # 处理秒
-        if "s" in time_clean:
-            seconds = float(time_clean.replace("s", "").strip())
-            return seconds
-        
-        # 默认按小时处理
-        return float(time_clean) * 3600.0
-    
-    except ValueError:
-        print(f"HYDROGENATE: 无法解析时间 '{time_str}'，使用默认时间 2小时")
-        return 7200.0  # 2小时
+from .utils.logger_util import debug_print
+from .utils.unit_parser import parse_temperature_input, parse_time_input
 
 
 def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
     """查找与指定设备相关联的电磁阀"""
     solenoid_valves = [
-        node for node in G.nodes() 
+        node for node in G.nodes()
         if ('solenoid' in (G.nodes[node].get('class') or '').lower()
             or 'solenoid_valve' in node)
     ]
-    
+
     # 通过网络连接查找直接相连的电磁阀
     for solenoid in solenoid_valves:
         if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
             return solenoid
-    
+
     # 通过命名规则查找关联的电磁阀
     device_type = ""
     if 'gas' in device_id.lower():
         device_type = "gas"
     elif 'h2' in device_id.lower() or 'hydrogen' in device_id.lower():
         device_type = "gas"
-    
+
     if device_type:
         for solenoid in solenoid_valves:
             if device_type in solenoid.lower():
                 return solenoid
-    
+
     return None
 
 
 def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
     """
     查找与容器相连的指定类型设备
-    
+
     Args:
         G: 网络图
         vessel: 容器名称
         device_type: 设备类型 ('heater', 'stirrer', 'gas_source')
-    
+
     Returns:
         str: 设备ID，如果没有则返回None
     """
-    print(f"HYDROGENATE: 正在查找与容器 '{vessel}' 相连的 {device_type}...")
-    
     # 根据设备类型定义搜索关键词
     if device_type == 'heater':
         keywords = ['heater', 'heat', 'heatchill']
@@ -112,40 +57,38 @@ def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
         device_class = 'virtual_gas_source'
     else:
         return None
-    
+
     # 查找设备节点
     device_nodes = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_name = node.lower()
         node_class = node_data.get('class', '').lower()
-        
-        # 通过名称匹配
+
         if any(keyword in node_name for keyword in keywords):
             device_nodes.append(node)
-        # 通过类型匹配
         elif device_class in node_class:
             device_nodes.append(node)
-    
-    print(f"HYDROGENATE: 找到的{device_type}节点: {device_nodes}")
-    
+
+    debug_print(f"找到的{device_type}节点: {device_nodes}")
+
     # 检查是否有设备与目标容器相连
     for device in device_nodes:
         if G.has_edge(device, vessel) or G.has_edge(vessel, device):
-            print(f"HYDROGENATE: 找到与容器 '{vessel}' 相连的{device_type}: {device}")
+            debug_print(f"找到与容器 '{vessel}' 相连的{device_type}: {device}")
             return device
-    
+
     # 如果没有直接连接，查找距离最近的设备
     for device in device_nodes:
         try:
             path = nx.shortest_path(G, source=device, target=vessel)
             if len(path) <= 3:  # 最多2个中间节点
-                print(f"HYDROGENATE: 找到距离较近的{device_type}: {device}")
+                debug_print(f"找到距离较近的{device_type}: {device}")
                 return device
         except nx.NetworkXNoPath:
             continue
-    
-    print(f"HYDROGENATE: 未找到与容器 '{vessel}' 相连的{device_type}")
+
+    debug_print(f"未找到与容器 '{vessel}' 相连的{device_type}")
     return None
 
 
@@ -158,36 +101,31 @@ def generate_hydrogenate_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成氢化反应协议序列 - 支持vessel字典
-    
+
     Args:
         G: 有向图，节点为容器和设备
         vessel: 反应容器字典（从XDL传入）
         temp: 反应温度（如 "45 °C"）
         time: 反应时间（如 "2 h"）
         **kwargs: 其他可选参数，但不使用
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-    
+
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     action_sequence = []
-    
+
     # 解析参数
-    temperature = parse_temperature(temp)
-    reaction_time = parse_time(time)
-    
-    print("🧪" * 20)
-    print(f"HYDROGENATE: 开始生成氢化反应协议（支持vessel字典）✨")
-    print(f"📝 输入参数:")
-    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    print(f"  🌡️ 反应温度: {temperature}°C")
-    print(f"  ⏰ 反应时间: {reaction_time/3600:.1f} 小时")
-    print("🧪" * 20)
-    
-    # 🔧 新增：记录氢化前的容器状态（可选，氢化反应通常不改变体积）
+    temperature = parse_temperature_input(temp)
+    reaction_time = parse_time_input(time)
+
+    debug_print(f"开始生成氢化反应协议: vessel={vessel_id}, "
+                f"temp={temperature}°C, time={reaction_time/3600:.1f}h")
+
+    # 记录氢化前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -195,47 +133,36 @@ def generate_hydrogenate_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    print(f"📊 氢化前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # 1. 验证目标容器存在
-    print("📍 步骤1: 验证目标容器...")
-    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        print(f"⚠️ HYDROGENATE: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
+    if vessel_id not in G.nodes():
+        debug_print(f"⚠️ 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
         return action_sequence
-    print(f"✅ 容器 '{vessel_id}' 验证通过")
-    
+
     # 2. 查找相连的设备
-    print("📍 步骤2: 查找相连设备...")
-    heater_id = find_connected_device(G, vessel_id, 'heater')  # 🔧 使用 vessel_id
-    stirrer_id = find_connected_device(G, vessel_id, 'stirrer')  # 🔧 使用 vessel_id
-    gas_source_id = find_connected_device(G, vessel_id, 'gas_source')  # 🔧 使用 vessel_id
-    
-    print(f"🔧 设备配置:")
-    print(f"  🔥 加热器: {heater_id or '未找到'}")
-    print(f"  🌪️ 搅拌器: {stirrer_id or '未找到'}")
-    print(f"  💨 气源: {gas_source_id or '未找到'}")
-    
+    heater_id = find_connected_device(G, vessel_id, 'heater')
+    stirrer_id = find_connected_device(G, vessel_id, 'stirrer')
+    gas_source_id = find_connected_device(G, vessel_id, 'gas_source')
+
+    debug_print(f"设备配置: heater={heater_id or '未找到'}, "
+                f"stirrer={stirrer_id or '未找到'}, gas={gas_source_id or '未找到'}")
+
     # 3. 启动搅拌器
-    print("📍 步骤3: 启动搅拌器...")
     if stirrer_id:
-        print(f"🌪️ 启动搅拌器 {stirrer_id}")
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "stir_speed": 300.0,
                 "purpose": "氢化反应: 开始搅拌"
             }
         })
-        print("✅ 搅拌器启动动作已添加")
     else:
-        print(f"⚠️ HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
-    
+        debug_print(f"⚠️ 未找到搅拌器，继续执行")
+
     # 4. 启动气源（氢气）
-    print("📍 步骤4: 启动氢气源...")
     if gas_source_id:
-        print(f"💨 启动气源 {gas_source_id} (氢气)")
         action_sequence.append({
             "device_id": gas_source_id,
             "action_name": "set_status",
@@ -243,11 +170,10 @@ def generate_hydrogenate_protocol(
                 "string": "ON"
             }
         })
-        
+
         # 查找相关的电磁阀
         gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
         if gas_solenoid:
-            print(f"🚪 开启气源电磁阀 {gas_solenoid}")
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
@@ -255,12 +181,10 @@ def generate_hydrogenate_protocol(
                     "command": "OPEN"
                 }
             })
-        print("✅ 氢气源启动动作已添加")
     else:
-        print(f"⚠️ HYDROGENATE: 警告 - 未找到气源，继续执行")
-    
+        debug_print(f"⚠️ 未找到气源，继续执行")
+
     # 5. 等待气体稳定
-    print("📍 步骤5: 等待气体环境稳定...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -268,22 +192,19 @@ def generate_hydrogenate_protocol(
             "description": "等待氢气环境稳定"
         }
     })
-    print("✅ 气体稳定等待动作已添加")
-    
+
     # 6. 启动加热器
-    print("📍 步骤6: 启动加热反应...")
     if heater_id:
-        print(f"🔥 启动加热器 {heater_id} 到 {temperature}°C")
         action_sequence.append({
             "device_id": heater_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "temp": temperature,
                 "purpose": f"氢化反应: 加热到 {temperature}°C"
             }
         })
-        
+
         # 等待温度稳定
         action_sequence.append({
             "action_name": "wait",
@@ -292,52 +213,38 @@ def generate_hydrogenate_protocol(
                 "description": f"等待温度稳定到 {temperature}°C"
             }
         })
-        
-        # 🕐 模拟运行时间优化
-        print("  ⏰ 检查模拟运行时间限制...")
+
+        # 模拟运行时间优化
         original_reaction_time = reaction_time
-        simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
-        
+        simulation_time_limit = 60.0
+
         if reaction_time > simulation_time_limit:
             reaction_time = simulation_time_limit
-            print(f"  🎮 模拟运行优化: {original_reaction_time}s → {reaction_time}s (限制为{simulation_time_limit}s)")
-            print(f"  📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
-        else:
-            print(f"  ✅ 时间在限制内: {reaction_time}s ({reaction_time/60:.1f}分钟) 保持不变")
-        
+            debug_print(f"模拟运行优化: {original_reaction_time}s → {reaction_time}s")
+
         # 保持反应温度
         action_sequence.append({
             "device_id": heater_id,
             "action_name": "heat_chill",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "temp": temperature,
                 "time": reaction_time,
                 "purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
             }
         })
-        
-        # 显示时间调整信息
-        if original_reaction_time != reaction_time:
-            print(f"  🎭 模拟优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
-        
-        print("✅ 加热反应动作已添加")
-            
+
     else:
-        print(f"⚠️ HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
-        
-        # 🕐 室温反应也需要时间优化
-        print("  ⏰ 检查室温反应模拟时间限制...")
+        debug_print(f"⚠️ 未找到加热器，使用室温反应")
+
+        # 室温反应也需要时间优化
         original_reaction_time = reaction_time
-        simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
-        
+        simulation_time_limit = 60.0
+
         if reaction_time > simulation_time_limit:
             reaction_time = simulation_time_limit
-            print(f"  🎮 室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
-            print(f"  📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
-        else:
-            print(f"  ✅ 室温反应时间在限制内: {reaction_time}s 保持不变")
-        
+            debug_print(f"室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
+
         # 室温反应，只等待时间
         action_sequence.append({
             "action_name": "wait",
@@ -346,28 +253,19 @@ def generate_hydrogenate_protocol(
                 "description": f"室温氢化反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
             }
         })
-        
-        # 显示时间调整信息
-        if original_reaction_time != reaction_time:
-            print(f"  🎭 室温反应优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
-        
-        print("✅ 室温反应等待动作已添加")
-    
+
     # 7. 停止加热
-    print("📍 步骤7: 停止加热...")
     if heater_id:
         action_sequence.append({
             "device_id": heater_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "purpose": "氢化反应完成，停止加热"
             }
         })
-        print("✅ 停止加热动作已添加")
-    
+
     # 8. 等待冷却
-    print("📍 步骤8: 等待冷却...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -375,15 +273,12 @@ def generate_hydrogenate_protocol(
             "description": "等待反应混合物冷却"
         }
     })
-    print("✅ 冷却等待动作已添加")
-    
+
     # 9. 停止气源
-    print("📍 步骤9: 停止氢气源...")
     if gas_source_id:
         # 先关闭电磁阀
         gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
         if gas_solenoid:
-            print(f"🚪 关闭气源电磁阀 {gas_solenoid}")
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
@@ -391,7 +286,7 @@ def generate_hydrogenate_protocol(
                     "command": "CLOSED"
                 }
             })
-        
+
         # 再关闭气源
         action_sequence.append({
             "device_id": gas_source_id,
@@ -400,59 +295,24 @@ def generate_hydrogenate_protocol(
                 "string": "OFF"
             }
         })
-        print("✅ 氢气源停止动作已添加")
-    
+
     # 10. 停止搅拌
-    print("📍 步骤10: 停止搅拌...")
     if stirrer_id:
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
             "action_kwargs": {
-                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "purpose": "氢化反应完成，停止搅拌"
             }
         })
-        print("✅ 停止搅拌动作已添加")
-    
-    # 🔧 新增：氢化完成后的状态（氢化反应通常不改变体积）
-    final_liquid_volume = original_liquid_volume  # 氢化反应体积基本不变
-    
+
+    # 氢化完成后的状态（氢化反应通常不改变体积）
+    final_liquid_volume = original_liquid_volume
+
     # 总结
-    print("🎊" * 20)
-    print(f"🎉 氢化反应协议生成完成! ✨")
-    print(f"📊 总动作数: {len(action_sequence)} 个")
-    print(f"🥽 反应容器: {vessel_id}")
-    print(f"🌡️ 反应温度: {temperature}°C")
-    print(f"⏰ 反应时间: {reaction_time/60:.1f}分钟")
-    print(f"⏱️ 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
-    print(f"📊 体积状态:")
-    print(f"  - 反应前体积: {original_liquid_volume:.2f}mL")
-    print(f"  - 反应后体积: {final_liquid_volume:.2f}mL (氢化反应体积基本不变)")
-    print("🎊" * 20)
-    
+    debug_print(f"氢化反应协议生成完成: {len(action_sequence)} 个动作, "
+                f"vessel={vessel_id}, temp={temperature}°C, time={reaction_time/60:.1f}min, "
+                f"volume={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
+
     return action_sequence
-
-
-# 测试函数
-def test_hydrogenate_protocol():
-    """测试氢化反应协议"""
-    print("🧪 === HYDROGENATE PROTOCOL 测试 === ✨")
-    
-    # 测试温度解析
-    test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
-    for temp in test_temps:
-        parsed = parse_temperature(temp)
-        print(f"温度 '{temp}' -> {parsed}°C")
-    
-    # 测试时间解析
-    test_times = ["2 h", "120 min", "7200 s", "2", "invalid"]
-    for time in test_times:
-        parsed = parse_time(time)
-        print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
-    
-    print("✅ 测试完成 🎉")
-
-
-if __name__ == "__main__":
-    test_hydrogenate_protocol()

unilabos/compile/pump_protocol.py

@@ -2,99 +2,18 @@ import traceback
 import numpy as np
 import networkx as nx
 import asyncio
-import time as time_module  # 🔧 重命名time模块
+import time as time_module  # 重命名time模块
 from typing import List, Dict, Any
 import logging
 import sys
 
-from unilabos.compile.utils.vessel_parser import get_vessel
+from .utils.logger_util import debug_print
+from .utils.vessel_parser import get_vessel
+from .utils.resource_helper import get_resource_liquid_volume
 
 logger = logging.getLogger(__name__)
 
 
-def debug_print(message):
-    """强制输出调试信息"""
-    output = f"[TRANSFER] {message}"
-    logger.info(output)
-
-
-def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
-    """
-    从容器节点的数据中获取液体体积
-    """
-    debug_print(f"🔍 开始读取容器 '{vessel}' 的液体体积...")
-
-    if vessel not in G.nodes():
-        logger.error(f"❌ 容器 '{vessel}' 不存在于系统图中")
-        debug_print(f"  - 系统中的容器: {list(G.nodes())}")
-        return 0.0
-
-    vessel_data = G.nodes[vessel].get('data', {})
-    debug_print(f"📋 容器 '{vessel}' 的数据结构: {vessel_data}")
-
-    total_volume = 0.0
-
-    # 方法1：检查 'liquid' 字段（列表格式）
-    debug_print("🔍 方法1: 检查 'liquid' 字段...")
-    if 'liquid' in vessel_data:
-        liquids = vessel_data['liquid']
-        debug_print(f"  - liquid 字段类型: {type(liquids)}")
-        debug_print(f"  - liquid 字段内容: {liquids}")
-
-        if isinstance(liquids, list):
-            debug_print(f"  - liquid 是列表，包含 {len(liquids)} 个元素")
-            for i, liquid in enumerate(liquids):
-                debug_print(f"    液体 {i + 1}: {liquid}")
-                if isinstance(liquid, dict):
-                    volume_keys = ['liquid_volume', 'volume', 'amount', 'quantity']
-                    for key in volume_keys:
-                        if key in liquid:
-                            try:
-                                vol = float(liquid[key])
-                                total_volume += vol
-                                debug_print(f"    ✅ 从 '{key}' 读取体积: {vol}mL")
-                                break
-                            except (ValueError, TypeError) as e:
-                                logger.warning(f"    ⚠️ 无法转换 '{key}': {liquid[key]} -> {str(e)}")
-                                continue
-        else:
-            debug_print(f"  - liquid 不是列表: {type(liquids)}")
-    else:
-        debug_print("  - 没有 'liquid' 字段")
-
-    # 方法2：检查直接的体积字段
-    debug_print("🔍 方法2: 检查直接体积字段...")
-    volume_keys = ['total_volume', 'volume', 'liquid_volume', 'amount', 'current_volume']
-    for key in volume_keys:
-        if key in vessel_data:
-            try:
-                vol = float(vessel_data[key])
-                total_volume = max(total_volume, vol)  # 取最大值
-                debug_print(f"  ✅ 从容器数据 '{key}' 读取体积: {vol}mL")
-                break
-            except (ValueError, TypeError) as e:
-                logger.warning(f"  ⚠️ 无法转换 '{key}': {vessel_data[key]} -> {str(e)}")
-                continue
-
-    # 方法3：检查 'state' 或 'status' 字段
-    debug_print("🔍 方法3: 检查 'state' 字段...")
-    if 'state' in vessel_data and isinstance(vessel_data['state'], dict):
-        state = vessel_data['state']
-        debug_print(f"  - state 字段内容: {state}")
-        if 'volume' in state:
-            try:
-                vol = float(state['volume'])
-                total_volume = max(total_volume, vol)
-                debug_print(f"  ✅ 从容器状态读取体积: {vol}mL")
-            except (ValueError, TypeError) as e:
-                logger.warning(f"  ⚠️ 无法转换 state.volume: {state['volume']} -> {str(e)}")
-    else:
-        debug_print("  - 没有 'state' 字段或不是字典")
-
-    debug_print(f"📊 容器 '{vessel}' 最终检测体积: {total_volume}mL")
-    return total_volume
-
-
 def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
     """
     判断是否为泵阀一体设备
@@ -122,108 +41,77 @@ def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
 
 def find_connected_pump(G, valve_node):
     """
-    查找与阀门相连的泵节点 - 修复版本
-    🔧 修复：区分电磁阀和多通阀，电磁阀不参与泵查找
+    查找与阀门相连的泵节点
+    区分电磁阀和多通阀，电磁阀不参与泵查找
     """
-    debug_print(f"🔍 查找与阀门 {valve_node} 相连的泵...")
-
-    # 🔧 关键修复：检查节点类型，电磁阀不应该查找泵
+    # 检查节点类型，电磁阀不应该查找泵
     node_data = G.nodes.get(valve_node, {})
     node_class = node_data.get("class", "") or ""
 
-    debug_print(f"  - 阀门类型: {node_class}")
-
     # 如果是电磁阀，不应该查找泵（电磁阀只是开关）
     if ("solenoid" in node_class.lower() or "solenoid_valve" in valve_node.lower()):
-        debug_print(f"  ⚠️ {valve_node} 是电磁阀，不应该查找泵节点")
         raise ValueError(f"电磁阀 {valve_node} 不应该参与泵查找逻辑")
 
     # 只有多通阀等复杂阀门才需要查找连接的泵
     if ("multiway" in node_class.lower() or "valve" in node_class.lower()):
-        debug_print(f"  - {valve_node} 是多通阀，查找连接的泵...")
         # 方法1：直接相邻的泵
         for neighbor in G.neighbors(valve_node):
             neighbor_class = G.nodes[neighbor].get("class", "") or ""
-            # 排除非 电磁阀 和 泵 的邻居
-            debug_print(f"    - 检查邻居 {neighbor}, class: {neighbor_class}")
             if "pump" in neighbor_class.lower():
-                debug_print(f"    ✅ 找到直接相连的泵: {neighbor}")
                 return neighbor
 
         # 方法2：通过路径查找泵（最多2跳）
-        debug_print(f"    - 未找到直接相连的泵，尝试路径查找...")
+        pump_nodes = [
+            node_id for node_id in G.nodes()
+            if "pump" in (G.nodes[node_id].get("class", "") or "").lower()
+        ]
 
-        # 获取所有泵节点
-        pump_nodes = []
-        for node_id in G.nodes():
-            node_class = G.nodes[node_id].get("class", "") or ""
-            if "pump" in node_class.lower():
-                pump_nodes.append(node_id)
-
-        debug_print(f"    - 系统中的泵节点: {pump_nodes}")
-
-        # 查找到泵的最短路径
         for pump_node in pump_nodes:
             try:
                 if nx.has_path(G, valve_node, pump_node):
                     path = nx.shortest_path(G, valve_node, pump_node)
-                    path_length = len(path) - 1
-                    debug_print(f"    - 到泵 {pump_node} 的路径: {path}, 距离: {path_length}")
-
-                    if path_length <= 2:  # 最多允许2跳
-                        debug_print(f"    ✅ 通过路径找到泵: {pump_node}")
+                    if len(path) - 1 <= 2:  # 最多允许2跳
                         return pump_node
             except nx.NetworkXNoPath:
                 continue
 
-    # 最终失败
-    debug_print(f"  ❌ 完全找不到泵节点")
     raise ValueError(f"未找到与阀 {valve_node} 相连的泵节点")
 
 
 def build_pump_valve_maps(G, pump_backbone):
     """
-    构建泵-阀门映射 - 修复版本
-    🔧 修复：过滤掉电磁阀，只处理需要泵的多通阀
+    构建泵-阀门映射
+    过滤掉电磁阀，只处理需要泵的多通阀
     """
     pumps_from_node = {}
     valve_from_node = {}
 
-    debug_print(f"🔧 构建泵-阀门映射，原始骨架: {pump_backbone}")
-
-    # 🔧 关键修复：过滤掉电磁阀
+    # 过滤掉电磁阀
     filtered_backbone = []
     for node in pump_backbone:
         node_data = G.nodes.get(node, {})
         node_class = node_data.get("class", "") or ""
 
-        # 跳过电磁阀
         if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
-            debug_print(f"  - 跳过电磁阀: {node}")
             continue
 
         filtered_backbone.append(node)
 
-    debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
-
     for node in filtered_backbone:
         node_data = G.nodes.get(node, {})
         node_class = node_data.get("class", "") or ""
         if is_integrated_pump(node_class, node):
             pumps_from_node[node] = node
             valve_from_node[node] = node
-            debug_print(f"  - 集成泵-阀: {node}")
         else:
             try:
                 pump_node = find_connected_pump(G, node)
                 pumps_from_node[node] = pump_node
                 valve_from_node[node] = node
-                debug_print(f"  - 阀门 {node} -> 泵 {pump_node}")
-            except ValueError as e:
-                debug_print(f"  - 跳过节点 {node}: {str(e)}")
+            except ValueError:
                 continue
 
-    debug_print(f"🔧 最终映射: pumps={pumps_from_node}, valves={valve_from_node}")
+    debug_print(f"泵-阀映射: pumps={pumps_from_node}, valves={valve_from_node}")
     return pumps_from_node, valve_from_node
 
 
@@ -236,8 +124,8 @@ def generate_pump_protocol(
         transfer_flowrate: float = 0.5,
 ) -> List[Dict[str, Any]]:
     """
-    生成泵操作的动作序列 - 修复版本
-    🔧 修复：正确处理包含电磁阀的路径
+    生成泵操作的动作序列
+    正确处理包含电磁阀的路径
     """
     pump_action_sequence = []
     nodes = G.nodes(data=True)
@@ -256,7 +144,6 @@ def generate_pump_protocol(
         logger.warning(f"transfer_flowrate <= 0，使用默认值 {transfer_flowrate}mL/s")
 
     # 验证容器存在
-    debug_print(f"🔍 验证源容器 '{from_vessel_id}' 和目标容器 '{to_vessel_id}' 是否存在...")
     if from_vessel_id not in G.nodes():
         logger.error(f"源容器 '{from_vessel_id}' 不存在")
         return pump_action_sequence
@@ -272,28 +159,24 @@ def generate_pump_protocol(
         logger.error(f"无法找到从 '{from_vessel_id}' 到 '{to_vessel_id}' 的路径")
         return pump_action_sequence
 
-    # 🔧 关键修复：正确构建泵骨架，排除容器和电磁阀
+    # 正确构建泵骨架，排除容器和电磁阀
     pump_backbone = []
     for node in shortest_path:
-        # 跳过起始和结束容器
         if node == from_vessel_id or node == to_vessel_id:
             continue
 
-        # 跳过电磁阀（电磁阀不参与泵操作）
         node_data = G.nodes.get(node, {})
         node_class = node_data.get("class", "") or ""
         if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
-            debug_print(f"PUMP_TRANSFER: 跳过电磁阀 {node}")
             continue
 
-        # 只包含多通阀和泵
         if ("multiway" in node_class.lower() or "valve" in node_class.lower() or "pump" in node_class.lower()):
             pump_backbone.append(node)
 
-    debug_print(f"PUMP_TRANSFER: 过滤后的泵骨架: {pump_backbone}")
+    debug_print(f"PUMP_TRANSFER: 泵骨架: {pump_backbone}")
 
     if not pump_backbone:
-        debug_print("PUMP_TRANSFER: 没有泵骨架节点，可能是直接容器连接或只有电磁阀")
+        debug_print("PUMP_TRANSFER: 没有泵骨架节点")
         return pump_action_sequence
 
     if transfer_flowrate == 0:
@@ -309,7 +192,7 @@ def generate_pump_protocol(
         debug_print("PUMP_TRANSFER: 没有可用的泵映射")
         return pump_action_sequence
 
-    # 🔧 修复：安全地获取最小转移体积
+    # 安全地获取最小转移体积
     try:
         min_transfer_volumes = []
         for node in pump_backbone:
@@ -339,19 +222,19 @@ def generate_pump_protocol(
     volume_left = volume
     debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
 
-    # 🆕 只在开头打印总体概览
+    # 只在开头打印总体概览
     if repeats > 1:
-        debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
-        logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
+        debug_print(f"分批转移: 总体积 {volume:.2f}mL, {repeats} 次, 单次最大 {min_transfer_volume} mL")
+        logger.info(f"分批转移: 总体积 {volume:.2f}mL, {repeats} 次转移")
 
-    # 🔧 创建一个自定义的wait动作，用于在执行时打印日志
+    # 创建一个自定义的wait动作，用于在执行时打印日志
     def create_progress_log_action(message: str) -> Dict[str, Any]:
         """创建一个特殊的等待动作，在执行时打印进度日志"""
         return {
             "action_name": "wait",
             "action_kwargs": {
-                "time": 0.1,  # 很短的等待时间
-                "progress_message": message  # 自定义字段，用于进度日志
+                "time": 0.1,
+                "progress_message": message
             }
         }
 
@@ -359,12 +242,12 @@ def generate_pump_protocol(
     for i in range(repeats):
         current_volume = min(volume_left, min_transfer_volume)
 
-        # 🆕 在每次循环开始时添加进度日志
         if repeats > 1:
-            start_message = f"🚀 准备开始第 {i + 1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel_id} → {to_vessel_id}) 🚰"
-            pump_action_sequence.append(create_progress_log_action(start_message))
+            pump_action_sequence.append(create_progress_log_action(
+                f"第 {i + 1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel_id} -> {to_vessel_id})"
+            ))
 
-        # 🔧 修复：安全地获取边数据
+        # 安全地获取边数据
         def get_safe_edge_data(node_a, node_b, key):
             try:
                 edge_data = G.get_edge_data(node_a, node_b)
@@ -467,13 +350,13 @@ def generate_pump_protocol(
                 ])
                 pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
 
-        # 🆕 在每次循环结束时添加完成日志
+        # 在每次循环结束时添加完成日志
         if repeats > 1:
             remaining_volume = volume_left - current_volume
             if remaining_volume > 0:
-                end_message = f"✅ 第 {i + 1}/{repeats} 次转移完成! 剩余 {remaining_volume:.2f}mL 待转移 ⏳"
+                end_message = f"第 {i + 1}/{repeats} 次完成, 剩余 {remaining_volume:.2f}mL"
             else:
-                end_message = f"🎉 第 {i + 1}/{repeats} 次转移完成! 全部 {volume:.2f}mL 转移完毕 ✨"
+                end_message = f"第 {i + 1}/{repeats} 次完成, 全部 {volume:.2f}mL 转移完毕"
 
             pump_action_sequence.append(create_progress_log_action(end_message))
 
@@ -515,300 +398,205 @@ def generate_pump_protocol_with_rinsing(
     to_vessel_id, _ = get_vessel(to_vessel)
 
     with generate_pump_protocol_with_rinsing._lock:
-        debug_print("=" * 60)
-        debug_print(f"PUMP_TRANSFER: 🚀 开始生成协议 (同步版本)")
-        debug_print(f"  📍 路径: {from_vessel_id} -> {to_vessel_id}")
-        debug_print(f"  🕐 时间戳: {time_module.time()}")
-        debug_print(f"  🔒 获得执行锁")
-        debug_print("=" * 60)
+        debug_print(f"PUMP_TRANSFER: {from_vessel_id} -> {to_vessel_id}, volume={volume}, flowrate={flowrate}")
 
         # 短暂延迟，避免快速重复调用
         time_module.sleep(0.01)
 
-        debug_print("🔍 步骤1: 开始体积处理...")
-
         # 1. 处理体积参数
         final_volume = volume
-        debug_print(f"📋 初始设置: final_volume = {final_volume}")
 
-        # 🔧 修复：如果volume为0（ROS2传入的空值），从容器读取实际体积
+        # 如果volume为0，从容器读取实际体积
         if volume == 0.0:
-            debug_print("🎯 检测到 volume=0.0，开始自动体积检测...")
 
-            # 直接从源容器读取实际体积
-            actual_volume = get_vessel_liquid_volume(G, from_vessel_id)
-            debug_print(f"📖 从容器 '{from_vessel_id}' 读取到体积: {actual_volume}mL")
+            actual_volume = get_resource_liquid_volume(G.nodes.get(from_vessel_id, {}))
 
             if actual_volume > 0:
                 final_volume = actual_volume
-                debug_print(f"✅ 成功设置体积为: {final_volume}mL")
             else:
-                final_volume = 10.0  # 如果读取失败，使用默认值
-                logger.warning(f"⚠️ 无法从容器读取体积，使用默认值: {final_volume}mL")
-        else:
-            debug_print(f"📌 体积非零，直接使用: {final_volume}mL")
-
+                final_volume = 10.0
+                logger.warning(f"无法从容器读取体积，使用默认值: {final_volume}mL")
         # 处理 amount 参数
         if amount and amount.strip():
-            debug_print(f"🔍 检测到 amount 参数: '{amount}'，开始解析...")
             parsed_volume = _parse_amount_to_volume(amount)
-            debug_print(f"📖 从 amount 解析得到体积: {parsed_volume}mL")
 
             if parsed_volume > 0:
                 final_volume = parsed_volume
-                debug_print(f"✅ 使用从 amount 解析的体积: {final_volume}mL")
             elif parsed_volume == 0.0 and amount.lower().strip() == "all":
-                debug_print("🎯 检测到 amount='all'，从容器读取全部体积...")
-                actual_volume = get_vessel_liquid_volume(G, from_vessel_id)
+                actual_volume = get_resource_liquid_volume(G.nodes.get(from_vessel_id, {}))
                 if actual_volume > 0:
                     final_volume = actual_volume
-                    debug_print(f"✅ amount='all'，设置体积为: {final_volume}mL")
 
         # 最终体积验证
-        debug_print(f"🔍 步骤2: 最终体积验证...")
         if final_volume <= 0:
-            logger.error(f"❌ 体积无效: {final_volume}mL")
+            logger.error(f"体积无效: {final_volume}mL")
             final_volume = 10.0
-            logger.warning(f"⚠️ 强制设置为默认值: {final_volume}mL")
+            logger.warning(f"强制设置为默认值: {final_volume}mL")
 
-        debug_print(f"✅ 最终确定体积: {final_volume}mL")
+        debug_print(f"最终体积: {final_volume}mL")
 
         # 2. 处理流速参数
-        debug_print(f"🔍 步骤3: 处理流速参数...")
-        debug_print(f"  - 原始 flowrate: {flowrate}")
-        debug_print(f"  - 原始 transfer_flowrate: {transfer_flowrate}")
-
         final_flowrate = flowrate if flowrate > 0 else 2.5
         final_transfer_flowrate = transfer_flowrate if transfer_flowrate > 0 else 0.5
 
         if flowrate <= 0:
-            logger.warning(f"⚠️ flowrate <= 0，修正为: {final_flowrate}mL/s")
+            logger.warning(f"flowrate <= 0，修正为: {final_flowrate}mL/s")
         if transfer_flowrate <= 0:
-            logger.warning(f"⚠️ transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
-
-        debug_print(f"✅ 修正后流速: flowrate={final_flowrate}mL/s, transfer_flowrate={final_transfer_flowrate}mL/s")
+            logger.warning(f"transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
 
         # 3. 根据时间计算流速
         if time > 0 and final_volume > 0:
-            debug_print(f"🔍 步骤4: 根据时间计算流速...")
             calculated_flowrate = final_volume / time
-            debug_print(f"  - 计算得到流速: {calculated_flowrate}mL/s")
 
             if flowrate <= 0 or flowrate == 2.5:
                 final_flowrate = min(calculated_flowrate, 10.0)
-                debug_print(f"  - 调整 flowrate 为: {final_flowrate}mL/s")
             if transfer_flowrate <= 0 or transfer_flowrate == 0.5:
                 final_transfer_flowrate = min(calculated_flowrate, 5.0)
-                debug_print(f"  - 调整 transfer_flowrate 为: {final_transfer_flowrate}mL/s")
 
         # 4. 根据速度规格调整
         if rate_spec:
-            debug_print(f"🔍 步骤5: 根据速度规格调整...")
-            debug_print(f"  - 速度规格: '{rate_spec}'")
-
             if rate_spec == "dropwise":
                 final_flowrate = min(final_flowrate, 0.1)
                 final_transfer_flowrate = min(final_transfer_flowrate, 0.1)
-                debug_print(f"  - dropwise模式，流速调整为: {final_flowrate}mL/s")
             elif rate_spec == "slowly":
                 final_flowrate = min(final_flowrate, 0.5)
                 final_transfer_flowrate = min(final_transfer_flowrate, 0.3)
-                debug_print(f"  - slowly模式，流速调整为: {final_flowrate}mL/s")
             elif rate_spec == "quickly":
                 final_flowrate = max(final_flowrate, 5.0)
                 final_transfer_flowrate = max(final_transfer_flowrate, 2.0)
-                debug_print(f"  - quickly模式，流速调整为: {final_flowrate}mL/s")
+            debug_print(f"速度规格 '{rate_spec}': flowrate={final_flowrate}, transfer={final_transfer_flowrate}")
 
     # 5. 处理冲洗参数
-    debug_print(f"🔍 步骤6: 处理冲洗参数...")
     final_rinsing_solvent = rinsing_solvent
     final_rinsing_volume = rinsing_volume if rinsing_volume > 0 else 5.0
     final_rinsing_repeats = rinsing_repeats if rinsing_repeats > 0 else 2
 
     if rinsing_volume <= 0:
-        logger.warning(f"⚠️ rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
+        logger.warning(f"rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
     if rinsing_repeats <= 0:
-        logger.warning(f"⚠️ rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
+        logger.warning(f"rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
 
     # 根据物理属性调整冲洗参数
     if viscous or solid:
         final_rinsing_repeats = max(final_rinsing_repeats, 3)
         final_rinsing_volume = max(final_rinsing_volume, 10.0)
-        debug_print(f"🧪 粘稠/固体物质，调整冲洗参数：{final_rinsing_repeats}次，{final_rinsing_volume}mL")
 
     # 参数总结
-    debug_print("📊 最终参数总结:")
-    debug_print(f"  - 体积: {final_volume}mL")
-    debug_print(f"  - 流速: {final_flowrate}mL/s")
-    debug_print(f"  - 转移流速: {final_transfer_flowrate}mL/s")
-    debug_print(f"  - 冲洗溶剂: '{final_rinsing_solvent}'")
-    debug_print(f"  - 冲洗体积: {final_rinsing_volume}mL")
-    debug_print(f"  - 冲洗次数: {final_rinsing_repeats}次")
-
-    # ========== 执行基础转移 ==========
-
-    debug_print("🔧 步骤7: 开始执行基础转移...")
+    debug_print(f"最终参数: volume={final_volume}mL, flowrate={final_flowrate}mL/s, "
+                f"transfer_flowrate={final_transfer_flowrate}mL/s, "
+                f"rinsing={final_rinsing_solvent}/{final_rinsing_volume}mL/{final_rinsing_repeats}次")
 
+    # 执行基础转移
     try:
-        debug_print(f"  - 调用 generate_pump_protocol...")
-        debug_print(
-            f"  - 参数: G, '{from_vessel_id}', '{to_vessel_id}', {final_volume}, {final_flowrate}, {final_transfer_flowrate}")
 
         pump_action_sequence = generate_pump_protocol(
             G, from_vessel_id, to_vessel_id, final_volume,
             final_flowrate, final_transfer_flowrate
         )
 
-        debug_print(f"  - generate_pump_protocol 返回结果:")
-        debug_print(f"    - 动作序列长度: {len(pump_action_sequence)}")
-        debug_print(f"    - 动作序列是否为空: {len(pump_action_sequence) == 0}")
+        debug_print(f"基础转移生成了 {len(pump_action_sequence)} 个动作")
 
         if not pump_action_sequence:
-            debug_print("❌ 基础转移协议生成为空，可能是路径问题")
-            debug_print(f"  - 源容器存在: {from_vessel_id in G.nodes()}")
-            debug_print(f"  - 目标容器存在: {to_vessel_id in G.nodes()}")
+            debug_print("基础转移协议为空")
 
             if from_vessel_id in G.nodes() and to_vessel_id in G.nodes():
                 try:
                     path = nx.shortest_path(G, source=from_vessel_id, target=to_vessel_id)
-                    debug_print(f"  - 路径存在: {path}")
-                except Exception as path_error:
-                    debug_print(f"  - 无法找到路径: {str(path_error)}")
+                    debug_print(f"路径存在: {path}")
+                except Exception:
+                    pass
 
             return [
                 {
                     "device_id": "system",
                     "action_name": "log_message",
                     "action_kwargs": {
-                        "message": f"⚠️ 路径问题，无法转移: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}"
+                        "message": f"路径问题，无法转移: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}"
                     }
                 }
             ]
 
-        debug_print(f"✅ 基础转移生成了 {len(pump_action_sequence)} 个动作")
-
-        # 打印前几个动作用于调试
-        if len(pump_action_sequence) > 0:
-            debug_print("🔍 前几个动作预览:")
-            for i, action in enumerate(pump_action_sequence[:3]):
-                debug_print(f"  动作 {i + 1}: {action}")
-            if len(pump_action_sequence) > 3:
-                debug_print(f"  ... 还有 {len(pump_action_sequence) - 3} 个动作")
-
     except Exception as e:
-        debug_print(f"❌ 基础转移失败: {str(e)}")
-        import traceback
-        debug_print(f"详细错误: {traceback.format_exc()}")
+        debug_print(f"基础转移失败: {str(e)}\n{traceback.format_exc()}")
         return [
             {
                 "device_id": "system",
                 "action_name": "log_message",
                 "action_kwargs": {
-                    "message": f"❌ 转移失败: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}, 错误: {str(e)}"
+                    "message": f"转移失败: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}, 错误: {str(e)}"
                 }
             }
         ]
 
-    # ========== 执行冲洗操作 ==========
-
-    debug_print("🔧 步骤8: 检查冲洗操作...")
-
+    # 执行冲洗操作
     if final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0:
-        debug_print(f"🧽 开始冲洗操作，溶剂: '{final_rinsing_solvent}'")
 
         try:
             if final_rinsing_solvent.strip() != "air":
-                debug_print("  - 执行液体冲洗...")
                 rinsing_actions = _generate_rinsing_sequence(
                     G, from_vessel_id, to_vessel_id, final_rinsing_solvent,
                     final_rinsing_volume, final_rinsing_repeats,
                     final_flowrate, final_transfer_flowrate
                 )
                 pump_action_sequence.extend(rinsing_actions)
-                debug_print(f"  - 添加了 {len(rinsing_actions)} 个冲洗动作")
             else:
-                debug_print("  - 执行空气冲洗...")
                 air_rinsing_actions = _generate_air_rinsing_sequence(
                     G, from_vessel_id, to_vessel_id, final_rinsing_volume, final_rinsing_repeats,
                     final_flowrate, final_transfer_flowrate
                 )
                 pump_action_sequence.extend(air_rinsing_actions)
-                debug_print(f"  - 添加了 {len(air_rinsing_actions)} 个空气冲洗动作")
         except Exception as e:
-            debug_print(f"⚠️ 冲洗操作失败: {str(e)}，跳过冲洗")
+            debug_print(f"冲洗操作失败: {str(e)}")
     else:
-        debug_print(f"⏭️ 跳过冲洗操作")
-        debug_print(f"  - 溶剂: '{final_rinsing_solvent}'")
-        debug_print(f"  - 次数: {final_rinsing_repeats}")
-        debug_print(f"  - 条件满足: {bool(final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0)}")
+        debug_print(f"跳过冲洗 (solvent='{final_rinsing_solvent}', repeats={final_rinsing_repeats})")
 
-    # ========== 最终结果 ==========
-
-    debug_print("=" * 60)
-    debug_print(f"🎉 PUMP_TRANSFER: 协议生成完成")
-    debug_print(f"  📊 总动作数: {len(pump_action_sequence)}")
-    debug_print(f"  📋 最终体积: {final_volume}mL")
-    debug_print(f"  🚀 执行路径: {from_vessel_id} -> {to_vessel_id}")
+    # 最终结果
+    debug_print(f"PUMP_TRANSFER 完成: {from_vessel_id} -> {to_vessel_id}, "
+                f"volume={final_volume}mL, 动作数={len(pump_action_sequence)}")
 
     # 最终验证
     if len(pump_action_sequence) == 0:
-        debug_print("🚨 协议生成结果为空！这是异常情况")
         return [
             {
                 "device_id": "system",
                 "action_name": "log_message",
                 "action_kwargs": {
-                    "message": f"🚨 协议生成失败: 无法生成任何动作序列"
+                    "message": "协议生成失败: 无法生成任何动作序列"
                 }
             }
         ]
 
-    debug_print("=" * 60)
     return pump_action_sequence
 
 
 def _parse_amount_to_volume(amount: str) -> float:
     """解析 amount 字符串为体积"""
-    debug_print(f"🔍 解析 amount: '{amount}'")
-
     if not amount:
-        debug_print("  - amount 为空，返回 0.0")
         return 0.0
 
     amount = amount.lower().strip()
-    debug_print(f"  - 处理后的 amount: '{amount}'")
 
     # 处理特殊关键词
     if amount == "all":
-        debug_print("  - 检测到 'all'，返回 0.0（需要后续处理）")
         return 0.0  # 返回0.0，让调用者处理
 
     # 提取数字
     import re
     numbers = re.findall(r'[\d.]+', amount)
-    debug_print(f"  - 提取到的数字: {numbers}")
 
     if numbers:
         volume = float(numbers[0])
-        debug_print(f"  - 基础体积: {volume}")
 
         # 单位转换
         if 'ml' in amount or 'milliliter' in amount:
-            debug_print(f"  - 单位: mL，最终体积: {volume}")
             return volume
         elif 'l' in amount and 'ml' not in amount:
-            final_volume = volume * 1000
-            debug_print(f"  - 单位: L，最终体积: {final_volume}mL")
-            return final_volume
+            return volume * 1000
         elif 'μl' in amount or 'microliter' in amount:
-            final_volume = volume / 1000
-            debug_print(f"  - 单位: μL，最终体积: {final_volume}mL")
-            return final_volume
+            return volume / 1000
         else:
-            debug_print(f"  - 无单位，假设为 mL: {volume}")
-            return volume
+            return volume  # 默认mL
 
-    debug_print("  - 无法解析，返回 0.0")
     return 0.0
 
 

unilabos/compile/recrystallize_protocol.py

@@ -4,76 +4,64 @@ import logging
 from typing import List, Dict, Any, Tuple, Union
 from .utils.vessel_parser import get_vessel, find_solvent_vessel
 from .utils.unit_parser import parse_volume_input
+from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[RECRYSTALLIZE] {message}")
-
 
 def parse_ratio(ratio_str: str) -> Tuple[float, float]:
     """
     解析比例字符串，支持多种格式
-    
+
     Args:
         ratio_str: 比例字符串（如 "1:1", "3:7", "50:50"）
-    
+
     Returns:
         Tuple[float, float]: 比例元组 (ratio1, ratio2)
     """
-    debug_print(f"⚖️ 开始解析比例: '{ratio_str}' 📊")
-    
     try:
-        # 处理 "1:1", "3:7", "50:50" 等格式
         if ":" in ratio_str:
             parts = ratio_str.split(":")
             if len(parts) == 2:
                 ratio1 = float(parts[0])
                 ratio2 = float(parts[1])
-                debug_print(f"✅ 冒号格式解析成功: {ratio1}:{ratio2} 🎯")
                 return ratio1, ratio2
-        
-        # 处理 "1-1", "3-7" 等格式
+
         if "-" in ratio_str:
             parts = ratio_str.split("-")
             if len(parts) == 2:
                 ratio1 = float(parts[0])
                 ratio2 = float(parts[1])
-                debug_print(f"✅ 横线格式解析成功: {ratio1}:{ratio2} 🎯")
                 return ratio1, ratio2
-        
-        # 处理 "1,1", "3,7" 等格式
+
         if "," in ratio_str:
             parts = ratio_str.split(",")
             if len(parts) == 2:
                 ratio1 = float(parts[0])
                 ratio2 = float(parts[1])
-                debug_print(f"✅ 逗号格式解析成功: {ratio1}:{ratio2} 🎯")
                 return ratio1, ratio2
-        
-        # 默认 1:1
-        debug_print(f"⚠️ 无法解析比例 '{ratio_str}'，使用默认比例 1:1 🎭")
+
+        debug_print(f"无法解析比例 '{ratio_str}'，使用默认比例 1:1")
         return 1.0, 1.0
-    
+
     except ValueError:
-        debug_print(f"❌ 比例解析错误 '{ratio_str}'，使用默认比例 1:1 🎭")
+        debug_print(f"比例解析错误 '{ratio_str}'，使用默认比例 1:1")
         return 1.0, 1.0
 
 
 def generate_recrystallize_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel: dict,
     ratio: str,
     solvent1: str,
     solvent2: str,
-    volume: Union[str, float],  # 支持字符串和数值
+    volume: Union[str, float],
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成重结晶协议序列 - 支持vessel字典和体积运算
-    
+
     Args:
         G: 有向图，节点为容器和设备
         vessel: 目标容器字典（从XDL传入）
@@ -82,28 +70,18 @@ def generate_recrystallize_protocol(
         solvent2: 第二种溶剂名称
         volume: 总体积（支持 "100 mL", "50", "2.5 L" 等）
         **kwargs: 其他可选参数
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-    
-    # 🔧 核心修改：从字典中提取容器ID
+
     vessel_id, vessel_data = get_vessel(vessel)
-    
+
     action_sequence = []
-    
-    debug_print("💎" * 20)
-    debug_print("🚀 开始生成重结晶协议（支持vessel字典和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  ⚖️ 比例: {ratio}")
-    debug_print(f"  🧪 溶剂1: {solvent1}")
-    debug_print(f"  🧪 溶剂2: {solvent2}")
-    debug_print(f"  💧 总体积: {volume} (类型: {type(volume)})")
-    debug_print("💎" * 20)
-    
-    # 🔧 新增：记录重结晶前的容器状态
-    debug_print("🔍 记录重结晶前容器状态...")
+
+    debug_print(f"开始生成重结晶协议: vessel={vessel_id}, ratio={ratio}, solvent1={solvent1}, solvent2={solvent2}, volume={volume}")
+
+    # 记录重结晶前的容器状态
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -111,102 +89,73 @@ def generate_recrystallize_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-    debug_print(f"📊 重结晶前液体体积: {original_liquid_volume:.2f}mL")
-    
+
     # 1. 验证目标容器存在
-    debug_print("📍 步骤1: 验证目标容器... 🔧")
-    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中! 😱")
+    if vessel_id not in G.nodes():
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-    debug_print(f"✅ 目标容器 '{vessel_id}' 验证通过 🎯")
-    
+
     # 2. 解析体积（支持单位）
-    debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
     final_volume = parse_volume_input(volume, "mL")
-    debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
-    
+    debug_print(f"体积解析: {volume} -> {final_volume}mL")
+
     # 3. 解析比例
-    debug_print("📍 步骤3: 解析比例... ⚖️")
     ratio1, ratio2 = parse_ratio(ratio)
     total_ratio = ratio1 + ratio2
-    debug_print(f"🎯 比例解析完成: {ratio1}:{ratio2} (总比例: {total_ratio}) ✨")
-    
+
     # 4. 计算各溶剂体积
-    debug_print("📍 步骤4: 计算各溶剂体积... 🧮")
     volume1 = final_volume * (ratio1 / total_ratio)
     volume2 = final_volume * (ratio2 / total_ratio)
-    
-    debug_print(f"🧪 {solvent1} 体积: {volume1:.2f} mL ({ratio1}/{total_ratio} × {final_volume})")
-    debug_print(f"🧪 {solvent2} 体积: {volume2:.2f} mL ({ratio2}/{total_ratio} × {final_volume})")
-    debug_print(f"✅ 体积计算完成: 总计 {volume1 + volume2:.2f} mL 🎯")
-    
+
+    debug_print(f"溶剂体积: {solvent1}={volume1:.2f}mL, {solvent2}={volume2:.2f}mL")
+
     # 5. 查找溶剂容器
-    debug_print("📍 步骤5: 查找溶剂容器... 🔍")
     try:
-        debug_print(f"  🔍 查找溶剂1容器...")
         solvent1_vessel = find_solvent_vessel(G, solvent1)
-        debug_print(f"  🎉 找到溶剂1容器: {solvent1_vessel} ✨")
     except ValueError as e:
-        debug_print(f"  ❌ 溶剂1容器查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到溶剂1 '{solvent1}': {str(e)}")
-    
+
     try:
-        debug_print(f"  🔍 查找溶剂2容器...")
         solvent2_vessel = find_solvent_vessel(G, solvent2)
-        debug_print(f"  🎉 找到溶剂2容器: {solvent2_vessel} ✨")
     except ValueError as e:
-        debug_print(f"  ❌ 溶剂2容器查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到溶剂2 '{solvent2}': {str(e)}")
-    
+
     # 6. 验证路径存在
-    debug_print("📍 步骤6: 验证传输路径... 🛤️")
     try:
-        path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id)  # 🔧 使用 vessel_id
-        debug_print(f"  🛤️ 溶剂1路径: {' → '.join(path1)} ✅")
+        path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id)
     except nx.NetworkXNoPath:
-        debug_print(f"  ❌ 溶剂1路径不可达: {solvent1_vessel} → {vessel_id} 😞")
         raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-    
+
     try:
-        path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id)  # 🔧 使用 vessel_id
-        debug_print(f"  🛤️ 溶剂2路径: {' → '.join(path2)} ✅")
+        path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id)
     except nx.NetworkXNoPath:
-        debug_print(f"  ❌ 溶剂2路径不可达: {solvent2_vessel} → {vessel_id} 😞")
         raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-    
+
     # 7. 添加第一种溶剂
-    debug_print("📍 步骤7: 添加第一种溶剂... 🧪")
-    debug_print(f"  🚰 开始添加溶剂1: {solvent1} ({volume1:.2f} mL)")
-    
     try:
         pump_actions1 = generate_pump_protocol_with_rinsing(
             G=G,
             from_vessel=solvent1_vessel,
-            to_vessel=vessel_id,  # 🔧 使用 vessel_id
-            volume=volume1,             # 使用解析后的体积
+            to_vessel=vessel_id,
+            volume=volume1,
             amount="",
             time=0.0,
             viscous=False,
-            rinsing_solvent="",  # 重结晶不需要清洗
+            rinsing_solvent="",
             rinsing_volume=0.0,
             rinsing_repeats=0,
             solid=False,
-            flowrate=2.0,  # 正常流速
+            flowrate=2.0,
             transfer_flowrate=0.5
         )
-        
+
         action_sequence.extend(pump_actions1)
-        debug_print(f"  ✅ 溶剂1泵送动作已添加: {len(pump_actions1)} 个动作 🚰✨")
-        
+
     except Exception as e:
-        debug_print(f"  ❌ 溶剂1泵协议生成失败: {str(e)} 😭")
         raise ValueError(f"生成溶剂1泵协议时出错: {str(e)}")
-    
-    # 🔧 新增：更新容器体积 - 添加溶剂1后
-    debug_print("  🔧 更新容器体积 - 添加溶剂1后...")
+
+    # 更新容器体积 - 添加溶剂1后
     new_volume_after_solvent1 = original_liquid_volume + volume1
-    
-    # 更新vessel字典中的体积
+
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
         if isinstance(current_volume, list):
@@ -216,15 +165,14 @@ def generate_recrystallize_protocol(
                 vessel["data"]["liquid_volume"] = [new_volume_after_solvent1]
         else:
             vessel["data"]["liquid_volume"] = new_volume_after_solvent1
-    
-    # 同时更新图中的容器数据
+
     if vessel_id in G.nodes():
         if 'data' not in G.nodes[vessel_id]:
             G.nodes[vessel_id]['data'] = {}
-        
+
         vessel_node_data = G.nodes[vessel_id]['data']
         current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-        
+
         if isinstance(current_node_volume, list):
             if len(current_node_volume) > 0:
                 G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume_after_solvent1
@@ -232,53 +180,42 @@ def generate_recrystallize_protocol(
                 G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume_after_solvent1]
         else:
             G.nodes[vessel_id]['data']['liquid_volume'] = new_volume_after_solvent1
-    
-    debug_print(f"  📊 体积更新: {original_liquid_volume:.2f}mL + {volume1:.2f}mL = {new_volume_after_solvent1:.2f}mL")
-    
+
     # 8. 等待溶剂1稳定
-    debug_print("  ⏳ 添加溶剂1稳定等待...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 5.0,  # 缩短等待时间
+            "time": 5.0,
             "description": f"等待溶剂1 {solvent1} 稳定"
         }
     })
-    debug_print("  ✅ 溶剂1稳定等待已添加 ⏰✨")
-    
+
     # 9. 添加第二种溶剂
-    debug_print("📍 步骤8: 添加第二种溶剂... 🧪")
-    debug_print(f"  🚰 开始添加溶剂2: {solvent2} ({volume2:.2f} mL)")
-    
     try:
         pump_actions2 = generate_pump_protocol_with_rinsing(
             G=G,
             from_vessel=solvent2_vessel,
-            to_vessel=vessel_id,  # 🔧 使用 vessel_id
-            volume=volume2,             # 使用解析后的体积
+            to_vessel=vessel_id,
+            volume=volume2,
             amount="",
             time=0.0,
             viscous=False,
-            rinsing_solvent="",  # 重结晶不需要清洗
+            rinsing_solvent="",
             rinsing_volume=0.0,
             rinsing_repeats=0,
             solid=False,
-            flowrate=2.0,  # 正常流速
+            flowrate=2.0,
             transfer_flowrate=0.5
         )
-        
+
         action_sequence.extend(pump_actions2)
-        debug_print(f"  ✅ 溶剂2泵送动作已添加: {len(pump_actions2)} 个动作 🚰✨")
-        
+
     except Exception as e:
-        debug_print(f"  ❌ 溶剂2泵协议生成失败: {str(e)} 😭")
         raise ValueError(f"生成溶剂2泵协议时出错: {str(e)}")
-    
-    # 🔧 新增：更新容器体积 - 添加溶剂2后
-    debug_print("  🔧 更新容器体积 - 添加溶剂2后...")
+
+    # 更新容器体积 - 添加溶剂2后
     final_liquid_volume = new_volume_after_solvent1 + volume2
-    
-    # 更新vessel字典中的体积
+
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
         if isinstance(current_volume, list):
@@ -288,15 +225,14 @@ def generate_recrystallize_protocol(
                 vessel["data"]["liquid_volume"] = [final_liquid_volume]
         else:
             vessel["data"]["liquid_volume"] = final_liquid_volume
-    
-    # 同时更新图中的容器数据
+
     if vessel_id in G.nodes():
         if 'data' not in G.nodes[vessel_id]:
             G.nodes[vessel_id]['data'] = {}
-        
+
         vessel_node_data = G.nodes[vessel_id]['data']
         current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-        
+
         if isinstance(current_node_volume, list):
             if len(current_node_volume) > 0:
                 G.nodes[vessel_id]['data']['liquid_volume'][0] = final_liquid_volume
@@ -304,36 +240,25 @@ def generate_recrystallize_protocol(
                 G.nodes[vessel_id]['data']['liquid_volume'] = [final_liquid_volume]
         else:
             G.nodes[vessel_id]['data']['liquid_volume'] = final_liquid_volume
-    
-    debug_print(f"  📊 最终体积: {new_volume_after_solvent1:.2f}mL + {volume2:.2f}mL = {final_liquid_volume:.2f}mL")
-    
+
     # 10. 等待溶剂2稳定
-    debug_print("  ⏳ 添加溶剂2稳定等待...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 5.0,  # 缩短等待时间
+            "time": 5.0,
             "description": f"等待溶剂2 {solvent2} 稳定"
         }
     })
-    debug_print("  ✅ 溶剂2稳定等待已添加 ⏰✨")
-    
+
     # 11. 等待重结晶完成
-    debug_print("📍 步骤9: 等待重结晶完成... 💎")
-    
-    # 模拟运行时间优化
-    debug_print("  ⏱️ 检查模拟运行时间限制...")
-    original_crystallize_time = 600.0  # 原始重结晶时间
-    simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
+    original_crystallize_time = 600.0
+    simulation_time_limit = 60.0
 
     final_crystallize_time = min(original_crystallize_time, simulation_time_limit)
-    
+
     if original_crystallize_time > simulation_time_limit:
-        debug_print(f"  🎮 模拟运行优化: {original_crystallize_time}s → {final_crystallize_time}s ⚡")
-        debug_print(f"  📊 时间缩短: {original_crystallize_time/60:.1f}分钟 → {final_crystallize_time/60:.1f}分钟 🚀")
-    else:
-        debug_print(f"  ✅ 时间在限制内: {final_crystallize_time}s 保持不变 🎯")
-    
+        debug_print(f"模拟运行优化: {original_crystallize_time}s -> {final_crystallize_time}s")
+
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -341,50 +266,28 @@ def generate_recrystallize_protocol(
             "description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}，总体积 {final_volume}mL）" + (f" (模拟时间)" if original_crystallize_time != final_crystallize_time else "")
         }
     })
-    debug_print(f"  ✅ 重结晶等待已添加: {final_crystallize_time}s 💎✨")
-    
-    # 显示时间调整信息
-    if original_crystallize_time != final_crystallize_time:
-        debug_print(f"  🎭 模拟优化说明: 原计划 {original_crystallize_time/60:.1f}分钟，实际模拟 {final_crystallize_time/60:.1f}分钟 ⚡")
-    
-    # 总结
-    debug_print("💎" * 20)
-    debug_print(f"🎉 重结晶协议生成完成! ✨")
-    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
-    debug_print(f"🥽 目标容器: {vessel_id}")
-    debug_print(f"💧 总体积变化:")
-    debug_print(f"  - 原始体积: {original_liquid_volume:.2f}mL")
-    debug_print(f"  - 添加溶剂: {final_volume:.2f}mL")
-    debug_print(f"  - 最终体积: {final_liquid_volume:.2f}mL")
-    debug_print(f"⚖️ 溶剂比例: {solvent1}:{solvent2} = {ratio1}:{ratio2}")
-    debug_print(f"🧪 溶剂1: {solvent1} ({volume1:.2f}mL)")
-    debug_print(f"🧪 溶剂2: {solvent2} ({volume2:.2f}mL)")
-    debug_print(f"⏱️ 预计总时间: {(final_crystallize_time + 10)/60:.1f} 分钟 ⌛")
-    debug_print("💎" * 20)
-    
+
+    debug_print(f"重结晶协议生成完成: {len(action_sequence)} 个动作, 容器={vessel_id}, 体积变化: {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
+
     return action_sequence
 
 
 # 测试函数
 def test_recrystallize_protocol():
     """测试重结晶协议"""
-    debug_print("🧪 === RECRYSTALLIZE PROTOCOL 测试 === ✨")
-    
-    # 测试体积解析
-    debug_print("💧 测试体积解析...")
+    debug_print("=== RECRYSTALLIZE PROTOCOL 测试 ===")
+
     test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
     for vol in test_volumes:
         parsed = parse_volume_input(vol)
-        debug_print(f"  📊 体积 '{vol}' -> {parsed}mL")
-    
-    # 测试比例解析
-    debug_print("⚖️ 测试比例解析...")
+        debug_print(f"体积 '{vol}' -> {parsed}mL")
+
     test_ratios = ["1:1", "3:7", "50:50", "1-1", "2,8", "invalid"]
     for ratio in test_ratios:
         r1, r2 = parse_ratio(ratio)
-        debug_print(f"  📊 比例 '{ratio}' -> {r1}:{r2}")
-    
-    debug_print("✅ 测试完成 🎉")
+        debug_print(f"比例 '{ratio}' -> {r1}:{r2}")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
-    test_recrystallize_protocol()
+    test_recrystallize_protocol()

unilabos/compile/reset_handling_protocol.py

@@ -1,253 +1,87 @@
 import networkx as nx
 import logging
-import sys
 from typing import List, Dict, Any, Optional
+from .utils.logger_util import debug_print, action_log
+from .utils.vessel_parser import find_solvent_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 # 设置日志
 logger = logging.getLogger(__name__)
 
-# 确保输出编码为UTF-8
-if hasattr(sys.stdout, 'reconfigure'):
-    try:
-        sys.stdout.reconfigure(encoding='utf-8')
-        sys.stderr.reconfigure(encoding='utf-8')
-    except:
-        pass
-
-def debug_print(message):
-    """调试输出函数 - 支持中文"""
-    try:
-        # 确保消息是字符串格式
-        safe_message = str(message)
-        print(f"[重置处理] {safe_message}", flush=True)
-        logger.info(f"[重置处理] {safe_message}")
-    except UnicodeEncodeError:
-        # 如果编码失败，尝试替换不支持的字符
-        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
-        print(f"[重置处理] {safe_message}", flush=True)
-        logger.info(f"[重置处理] {safe_message}")
-    except Exception as e:
-        # 最后的安全措施
-        fallback_message = f"日志输出错误: {repr(message)}"
-        print(f"[重置处理] {fallback_message}", flush=True)
-        logger.info(f"[重置处理] {fallback_message}")
-
-def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
-    """创建一个动作日志 - 支持中文和emoji"""
-    try:
-        full_message = f"{emoji} {message}"
-        debug_print(full_message)
-        logger.info(full_message)
-        
-        return {
-            "action_name": "wait",
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": full_message,
-                "progress_message": full_message
-            }
-        }
-    except Exception as e:
-        # 如果emoji有问题，使用纯文本
-        safe_message = f"[日志] {message}"
-        debug_print(safe_message)
-        logger.info(safe_message)
-        
-        return {
-            "action_name": "wait", 
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": safe_message,
-                "progress_message": safe_message
-            }
-        }
-
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """
-    查找溶剂容器，支持多种匹配模式
-    
-    Args:
-        G: 网络图
-        solvent: 溶剂名称（如 "methanol", "ethanol", "water"）
-    
-    Returns:
-        str: 溶剂容器ID
-    """
-    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
-    
-    # 构建可能的容器名称
-    possible_names = [
-        f"flask_{solvent}",           # flask_methanol
-        f"bottle_{solvent}",          # bottle_methanol
-        f"reagent_{solvent}",         # reagent_methanol
-        f"reagent_bottle_{solvent}",  # reagent_bottle_methanol
-        f"{solvent}_flask",           # methanol_flask
-        f"{solvent}_bottle",          # methanol_bottle
-        f"{solvent}",                 # methanol
-        f"vessel_{solvent}",          # vessel_methanol
-    ]
-    
-    debug_print(f"🎯 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个)")
-    
-    # 第一步：通过容器名称匹配
-    debug_print("📋 方法1: 精确名称匹配...")
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name}")
-            return vessel_name
-    debug_print("⚠️ 精确名称匹配失败，尝试模糊匹配...")
-    
-    # 第二步：通过模糊匹配
-    debug_print("📋 方法2: 模糊名称匹配...")
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            node_name = G.nodes[node_id].get('name', '').lower()
-            
-            # 检查是否包含溶剂名称
-            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
-                debug_print(f"✅ 通过模糊匹配找到容器: {node_id}")
-                return node_id
-    debug_print("⚠️ 模糊匹配失败，尝试液体类型匹配...")
-    
-    # 第三步：通过液体类型匹配
-    debug_print("📋 方法3: 液体类型匹配...")
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
-                    reagent_name = vessel_data.get('reagent_name', '').lower()
-                    
-                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
-                        debug_print(f"✅ 通过液体类型匹配找到容器: {node_id}")
-                        return node_id
-    
-    # 列出可用容器帮助调试
-    debug_print("📊 显示可用容器信息...")
-    available_containers = []
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
-                           for liquid in liquids if isinstance(liquid, dict)]
-            
-            available_containers.append({
-                'id': node_id,
-                'name': G.nodes[node_id].get('name', ''),
-                'liquids': liquid_types,
-                'reagent_name': vessel_data.get('reagent_name', '')
-            })
-    
-    debug_print(f"📋 可用容器列表 (共{len(available_containers)}个):")
-    for i, container in enumerate(available_containers[:5]):  # 只显示前5个
-        debug_print(f"  {i+1}. 🥽 {container['id']}: {container['name']}")
-        debug_print(f"     💧 液体: {container['liquids']}")
-        debug_print(f"     🧪 试剂: {container['reagent_name']}")
-    
-    if len(available_containers) > 5:
-        debug_print(f"    ... 还有 {len(available_containers)-5} 个容器")
-    
-    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器")
-    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names[:3]}...")
+create_action_log = action_log
 
 def generate_reset_handling_protocol(
     G: nx.DiGraph,
     solvent: str,
-    vessel: Optional[str] = None,  # 🆕 新增可选vessel参数
-    **kwargs  # 接收其他可能的参数但不使用
+    vessel: Optional[str] = None,
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成重置处理协议序列 - 支持自定义容器
-    
+
     Args:
         G: 有向图，节点为容器和设备
         solvent: 溶剂名称（从XDL传入）
         vessel: 目标容器名称（可选，默认为 "main_reactor"）
         **kwargs: 其他可选参数，但不使用
-    
+
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
     action_sequence = []
-    
-    # 🔧 修改：支持自定义vessel参数
-    target_vessel = vessel if vessel is not None else "main_reactor"  # 默认目标容器
-    volume = 50.0  # 默认体积 50 mL
 
-    debug_print("=" * 60)
-    debug_print("🚀 开始生成重置处理协议")
-    debug_print(f"📋 输入参数:")
-    debug_print(f"  🧪 溶剂: {solvent}")
-    debug_print(f"  🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
-    debug_print(f"  💧 体积: {volume} mL")
-    debug_print(f"  ⚙️ 其他参数: {kwargs}")
-    debug_print("=" * 60)
-    
+    target_vessel = vessel if vessel is not None else "main_reactor"
+    volume = 50.0
+
+    debug_print(f"开始生成重置处理协议: solvent={solvent}, vessel={target_vessel}, volume={volume}mL")
+
     # 添加初始日志
-    action_sequence.append(create_action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
-    action_sequence.append(create_action_log(f"使用溶剂: {solvent}", "🧪"))
-    action_sequence.append(create_action_log(f"重置体积: {volume}mL", "💧"))
-    
+    action_sequence.append(action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
+    action_sequence.append(action_log(f"使用溶剂: {solvent}", "🧪"))
+    action_sequence.append(action_log(f"重置体积: {volume}mL", "💧"))
+
     if vessel is None:
-        action_sequence.append(create_action_log("使用默认目标容器: main_reactor", "⚙️"))
+        action_sequence.append(action_log("使用默认目标容器: main_reactor", "⚙️"))
     else:
-        action_sequence.append(create_action_log(f"使用指定目标容器: {vessel}", "🎯"))
-    
+        action_sequence.append(action_log(f"使用指定目标容器: {vessel}", "🎯"))
+
     # 1. 验证目标容器存在
-    debug_print("🔍 步骤1: 验证目标容器...")
-    action_sequence.append(create_action_log("正在验证目标容器...", "🔍"))
-    
+    action_sequence.append(action_log("正在验证目标容器...", "🔍"))
+
     if target_vessel not in G.nodes():
-        debug_print(f"❌ 目标容器 '{target_vessel}' 不存在于系统中!")
-        action_sequence.append(create_action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
+        action_sequence.append(action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
         raise ValueError(f"目标容器 '{target_vessel}' 不存在于系统中")
-    
-    debug_print(f"✅ 目标容器 '{target_vessel}' 验证通过")
-    action_sequence.append(create_action_log(f"目标容器验证通过: {target_vessel}", "✅"))
-    
+
+    action_sequence.append(action_log(f"目标容器验证通过: {target_vessel}", "✅"))
+
     # 2. 查找溶剂容器
-    debug_print("🔍 步骤2: 查找溶剂容器...")
-    action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
-    
+    action_sequence.append(action_log("正在查找溶剂容器...", "🔍"))
+
     try:
         solvent_vessel = find_solvent_vessel(G, solvent)
-        debug_print(f"✅ 找到溶剂容器: {solvent_vessel}")
-        action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
+        debug_print(f"找到溶剂容器: {solvent_vessel}")
+        action_sequence.append(action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
     except ValueError as e:
-        debug_print(f"❌ 溶剂容器查找失败: {str(e)}")
-        action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
+        action_sequence.append(action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
         raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
-    
+
     # 3. 验证路径存在
-    debug_print("🔍 步骤3: 验证传输路径...")
-    action_sequence.append(create_action_log("正在验证传输路径...", "🛤️"))
-    
+    action_sequence.append(action_log("正在验证传输路径...", "🛤️"))
+
     try:
         path = nx.shortest_path(G, source=solvent_vessel, target=target_vessel)
-        debug_print(f"✅ 找到路径: {' → '.join(path)}")
-        action_sequence.append(create_action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
+        action_sequence.append(action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
     except nx.NetworkXNoPath:
-        debug_print(f"❌ 路径不可达: {solvent_vessel} → {target_vessel}")
-        action_sequence.append(create_action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
+        action_sequence.append(action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
         raise ValueError(f"从溶剂容器 '{solvent_vessel}' 到目标容器 '{target_vessel}' 没有可用路径")
-    
+
     # 4. 使用pump_protocol转移溶剂
-    debug_print("🔍 步骤4: 转移溶剂...")
-    action_sequence.append(create_action_log("开始溶剂转移操作...", "🚰"))
-    
-    debug_print(f"🚛 开始转移: {solvent_vessel} → {target_vessel}")
-    debug_print(f"💧 转移体积: {volume} mL")
-    action_sequence.append(create_action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
-    
+    action_sequence.append(action_log("开始溶剂转移操作...", "🚰"))
+    action_sequence.append(action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
+
     try:
-        debug_print("🔄 生成泵送协议...")
-        action_sequence.append(create_action_log("正在生成泵送协议...", "🔄"))
-        
+        action_sequence.append(action_log("正在生成泵送协议...", "🔄"))
+
         pump_actions = generate_pump_protocol_with_rinsing(
             G=G,
             from_vessel=solvent_vessel,
@@ -256,41 +90,34 @@ def generate_reset_handling_protocol(
             amount="",
             time=0.0,
             viscous=False,
-            rinsing_solvent="",  # 重置处理不需要清洗
+            rinsing_solvent="",
             rinsing_volume=0.0,
             rinsing_repeats=0,
             solid=False,
-            flowrate=2.5,  # 正常流速
-            transfer_flowrate=0.5  # 正常转移流速
+            flowrate=2.5,
+            transfer_flowrate=0.5
         )
-        
+
         action_sequence.extend(pump_actions)
-        debug_print(f"✅ 泵送协议已添加: {len(pump_actions)} 个动作")
-        action_sequence.append(create_action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
-        
+        debug_print(f"泵送协议已添加: {len(pump_actions)} 个动作")
+        action_sequence.append(action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
+
     except Exception as e:
-        debug_print(f"❌ 泵送协议生成失败: {str(e)}")
-        action_sequence.append(create_action_log(f"泵送协议生成失败: {str(e)}", "❌"))
+        action_sequence.append(action_log(f"泵送协议生成失败: {str(e)}", "❌"))
         raise ValueError(f"生成泵协议时出错: {str(e)}")
-    
+
     # 5. 等待溶剂稳定
-    debug_print("🔍 步骤5: 等待溶剂稳定...")
-    action_sequence.append(create_action_log("等待溶剂稳定...", "⏳"))
-    
-    # 模拟运行时间优化
-    debug_print("⏱️ 检查模拟运行时间限制...")
-    original_wait_time = 10.0  # 原始等待时间
-    simulation_time_limit = 5.0  # 模拟运行时间限制：5秒
-    
+    action_sequence.append(action_log("等待溶剂稳定...", "⏳"))
+
+    original_wait_time = 10.0
+    simulation_time_limit = 5.0
     final_wait_time = min(original_wait_time, simulation_time_limit)
-    
+
     if original_wait_time > simulation_time_limit:
-        debug_print(f"🎮 模拟运行优化: {original_wait_time}s → {final_wait_time}s")
-        action_sequence.append(create_action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
+        action_sequence.append(action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
     else:
-        debug_print(f"✅ 时间在限制内: {final_wait_time}s 保持不变")
-        action_sequence.append(create_action_log(f"等待时间: {final_wait_time}s", "⏰"))
-    
+        action_sequence.append(action_log(f"等待时间: {final_wait_time}s", "⏰"))
+
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -298,90 +125,50 @@ def generate_reset_handling_protocol(
             "description": f"等待溶剂 {solvent} 在容器 {target_vessel} 中稳定" + (f" (模拟时间)" if original_wait_time != final_wait_time else "")
         }
     })
-    debug_print(f"✅ 稳定等待已添加: {final_wait_time}s")
-    
-    # 显示时间调整信息
+
     if original_wait_time != final_wait_time:
-        debug_print(f"🎭 模拟优化说明: 原计划 {original_wait_time}s，实际模拟 {final_wait_time}s")
-        action_sequence.append(create_action_log("应用模拟时间优化", "🎭"))
-    
+        action_sequence.append(action_log("应用模拟时间优化", "🎭"))
+
     # 总结
-    debug_print("=" * 60)
-    debug_print(f"🎉 重置处理协议生成完成!")
-    debug_print(f"📊 总结信息:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)} 个")
-    debug_print(f"  🧪 溶剂: {solvent}")
-    debug_print(f"  🥽 源容器: {solvent_vessel}")
-    debug_print(f"  🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
-    debug_print(f"  💧 转移体积: {volume} mL")
-    debug_print(f"  ⏱️ 预计总时间: {(final_wait_time + 5):.0f} 秒")
-    debug_print(f"  🎯 操作结果: 已添加 {volume} mL {solvent} 到 {target_vessel}")
-    debug_print("=" * 60)
-    
-    # 添加完成日志
+    debug_print(f"重置处理协议生成完成: {len(action_sequence)} 个动作, {solvent_vessel} -> {target_vessel}, {volume}mL")
+
     summary_msg = f"重置处理完成: {target_vessel} (使用 {volume}mL {solvent})"
     if vessel is None:
         summary_msg += " [默认容器]"
     else:
         summary_msg += " [指定容器]"
-    
-    action_sequence.append(create_action_log(summary_msg, "🎉"))
-    
+
+    action_sequence.append(action_log(summary_msg, "🎉"))
+
     return action_sequence
 
 # === 便捷函数 ===
 
 def reset_main_reactor(G: nx.DiGraph, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
     """重置主反应器 (默认行为)"""
-    debug_print(f"🔄 重置主反应器，使用溶剂: {solvent}")
     return generate_reset_handling_protocol(G, solvent=solvent, vessel=None, **kwargs)
 
 def reset_custom_vessel(G: nx.DiGraph, vessel: str, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
     """重置指定容器"""
-    debug_print(f"🔄 重置指定容器: {vessel}，使用溶剂: {solvent}")
     return generate_reset_handling_protocol(G, solvent=solvent, vessel=vessel, **kwargs)
 
 def reset_with_water(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
     """使用水重置容器"""
-    target = vessel or "main_reactor"
-    debug_print(f"💧 使用水重置容器: {target}")
     return generate_reset_handling_protocol(G, solvent="water", vessel=vessel, **kwargs)
 
 def reset_with_methanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
     """使用甲醇重置容器"""
-    target = vessel or "main_reactor"
-    debug_print(f"🧪 使用甲醇重置容器: {target}")
     return generate_reset_handling_protocol(G, solvent="methanol", vessel=vessel, **kwargs)
 
 def reset_with_ethanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
     """使用乙醇重置容器"""
-    target = vessel or "main_reactor"
-    debug_print(f"🧪 使用乙醇重置容器: {target}")
     return generate_reset_handling_protocol(G, solvent="ethanol", vessel=vessel, **kwargs)
 
 # 测试函数
 def test_reset_handling_protocol():
     """测试重置处理协议"""
-    debug_print("=== 重置处理协议增强中文版测试 ===")
-    
-    # 测试溶剂名称
-    debug_print("🧪 测试常用溶剂名称...")
-    test_solvents = ["methanol", "ethanol", "water", "acetone", "dmso"]
-    for solvent in test_solvents:
-        debug_print(f"  🔍 测试溶剂: {solvent}")
-    
-    # 测试容器参数
-    debug_print("🥽 测试容器参数...")
-    test_cases = [
-        {"solvent": "methanol", "vessel": None, "desc": "默认容器"},
-        {"solvent": "ethanol", "vessel": "reactor_2", "desc": "指定容器"},
-        {"solvent": "water", "vessel": "flask_1", "desc": "自定义容器"}
-    ]
-    
-    for case in test_cases:
-        debug_print(f"  🧪 测试案例: {case['desc']} - {case['solvent']} -> {case['vessel'] or 'main_reactor'}")
-    
-    debug_print("✅ 测试完成")
+    debug_print("=== 重置处理协议测试 ===")
+    debug_print("测试完成")
 
 if __name__ == "__main__":
-    test_reset_handling_protocol()
+    test_reset_handling_protocol()

unilabos/compile/run_column_protocol.py

@@ -2,60 +2,54 @@ from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
 import re
-from .utils.vessel_parser import get_vessel
+from .utils.vessel_parser import get_vessel, find_solvent_vessel
+from .utils.resource_helper import get_resource_id, get_resource_data, get_resource_liquid_volume, update_vessel_volume
+from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[RUN_COLUMN] {message}")
-
 def parse_percentage(pct_str: str) -> float:
     """
     解析百分比字符串为数值
-    
+
     Args:
         pct_str: 百分比字符串（如 "40 %", "40%", "40"）
-    
+
     Returns:
         float: 百分比数值（0-100）
     """
     if not pct_str or not pct_str.strip():
         return 0.0
-    
+
     pct_str = pct_str.strip().lower()
-    debug_print(f"🔍 解析百分比: '{pct_str}'")
-    
+
     # 移除百分号和空格
     pct_clean = re.sub(r'[%\s]', '', pct_str)
-    
-    # 提取数字
+
     match = re.search(r'([0-9]*\.?[0-9]+)', pct_clean)
     if match:
         value = float(match.group(1))
-        debug_print(f"✅ 百分比解析结果: {value}%")
         return value
-    
-    debug_print(f"⚠️ 无法解析百分比: '{pct_str}'，返回0.0")
+
+    debug_print(f"无法解析百分比: '{pct_str}'，返回0.0")
     return 0.0
 
 def parse_ratio(ratio_str: str) -> tuple:
     """
     解析比例字符串为两个数值
-    
+
     Args:
         ratio_str: 比例字符串（如 "5:95", "1:1", "40:60"）
-    
+
     Returns:
-        tuple: (ratio1, ratio2) 两个比例值
+        tuple: (ratio1, ratio2) 两个比例值（百分比）
     """
     if not ratio_str or not ratio_str.strip():
-        return (50.0, 50.0)  # 默认1:1
-    
+        return (50.0, 50.0)
+
     ratio_str = ratio_str.strip()
-    debug_print(f"🔍 解析比例: '{ratio_str}'")
-    
+
     # 支持多种分隔符：: / -
     if ':' in ratio_str:
         parts = ratio_str.split(':')
@@ -66,101 +60,82 @@ def parse_ratio(ratio_str: str) -> tuple:
     elif 'to' in ratio_str.lower():
         parts = ratio_str.lower().split('to')
     else:
-        debug_print(f"⚠️ 无法解析比例格式: '{ratio_str}'，使用默认1:1")
+        debug_print(f"无法解析比例格式: '{ratio_str}'，使用默认1:1")
         return (50.0, 50.0)
-    
+
     if len(parts) >= 2:
         try:
             ratio1 = float(parts[0].strip())
             ratio2 = float(parts[1].strip())
             total = ratio1 + ratio2
-            
-            # 转换为百分比
+
             pct1 = (ratio1 / total) * 100
             pct2 = (ratio2 / total) * 100
-            
-            debug_print(f"✅ 比例解析结果: {ratio1}:{ratio2} -> {pct1:.1f}%:{pct2:.1f}%")
+
             return (pct1, pct2)
         except ValueError as e:
-            debug_print(f"⚠️ 比例数值转换失败: {str(e)}")
-    
-    debug_print(f"⚠️ 比例解析失败，使用默认1:1")
+            debug_print(f"比例数值转换失败: {str(e)}")
+
+    debug_print(f"比例解析失败，使用默认1:1")
     return (50.0, 50.0)
 
 def parse_rf_value(rf_str: str) -> float:
     """
     解析Rf值字符串
-    
+
     Args:
         rf_str: Rf值字符串（如 "0.3", "0.45", "?"）
-    
+
     Returns:
         float: Rf值（0-1）
     """
     if not rf_str or not rf_str.strip():
-        return 0.3  # 默认Rf值
-    
+        return 0.3
+
     rf_str = rf_str.strip().lower()
-    debug_print(f"🔍 解析Rf值: '{rf_str}'")
-    
-    # 处理未知Rf值
+
     if rf_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_rf = 0.3
-        debug_print(f"❓ 检测到未知Rf值，使用默认值: {default_rf}")
-        return default_rf
-    
-    # 提取数字
+        return 0.3
+
     match = re.search(r'([0-9]*\.?[0-9]+)', rf_str)
     if match:
         value = float(match.group(1))
-        # 确保Rf值在0-1范围内
         if value > 1.0:
-            value = value / 100.0  # 可能是百分比形式
-        value = max(0.0, min(1.0, value))  # 限制在0-1范围
-        debug_print(f"✅ Rf值解析结果: {value}")
+            value = value / 100.0
+        value = max(0.0, min(1.0, value))
         return value
-    
-    debug_print(f"⚠️ 无法解析Rf值: '{rf_str}'，使用默认值0.3")
+
     return 0.3
 
 def find_column_device(G: nx.DiGraph) -> str:
     """查找柱层析设备"""
-    debug_print("🔍 查找柱层析设备...")
-    
-    # 查找虚拟柱设备
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-        
+
         if 'virtual_column' in node_class.lower() or 'column' in node_class.lower():
-            debug_print(f"🎉 找到柱层析设备: {node} ✨")
+            debug_print(f"找到柱层析设备: {node}")
             return node
-    
-    # 如果没有找到，尝试创建虚拟设备名称
+
     possible_names = ['column_1', 'virtual_column_1', 'chromatography_column_1']
     for name in possible_names:
         if name in G.nodes():
-            debug_print(f"🎉 找到柱设备: {name} ✨")
+            debug_print(f"找到柱设备: {name}")
             return name
-    
-    debug_print("⚠️ 未找到柱层析设备，将使用pump protocol直接转移")
+
+    debug_print("未找到柱层析设备，将使用pump protocol直接转移")
     return ""
 
 def find_column_vessel(G: nx.DiGraph, column: str) -> str:
     """查找柱容器"""
-    debug_print(f"🔍 查找柱容器: '{column}'")
-    
-    # 直接检查column参数是否是容器
     if column in G.nodes():
         node_type = G.nodes[column].get('type', '')
         if node_type == 'container':
-            debug_print(f"🎉 找到柱容器: {column} ✨")
             return column
-    
-    # 尝试常见的命名规则
+
     possible_names = [
         f"column_{column}",
-        f"{column}_column", 
+        f"{column}_column",
         f"vessel_{column}",
         f"{column}_vessel",
         "column_vessel",
@@ -169,211 +144,25 @@ def find_column_vessel(G: nx.DiGraph, column: str) -> str:
         "preparative_column",
         "column"
     ]
-    
+
     for vessel_name in possible_names:
         if vessel_name in G.nodes():
             node_type = G.nodes[vessel_name].get('type', '')
             if node_type == 'container':
-                debug_print(f"🎉 找到柱容器: {vessel_name} ✨")
                 return vessel_name
-    
-    debug_print(f"⚠️ 未找到柱容器，将直接在源容器中进行分离")
+
     return ""
 
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """查找溶剂容器 - 增强版"""
-    if not solvent or not solvent.strip():
-        return ""
-    
-    solvent = solvent.strip().replace(' ', '_').lower()
-    debug_print(f"🔍 查找溶剂容器: '{solvent}'")
-    
-    # 🔧 方法1：直接搜索 data.reagent_name
-    for node in G.nodes():
-        node_data = G.nodes[node].get('data', {})
-        node_type = G.nodes[node].get('type', '')
-        
-        # 只搜索容器类型的节点
-        if node_type == 'container':
-            reagent_name = node_data.get('reagent_name', '').lower()
-            reagent_config = G.nodes[node].get('config', {}).get('reagent', '').lower()
-            
-            # 检查 data.reagent_name 和 config.reagent
-            if reagent_name == solvent or reagent_config == solvent:
-                debug_print(f"🎉 通过reagent_name找到溶剂容器: {node} (reagent: {reagent_name or reagent_config}) ✨")
-                return node
-            
-            # 模糊匹配 reagent_name
-            if solvent in reagent_name or reagent_name in solvent:
-                debug_print(f"🎉 通过reagent_name模糊匹配到溶剂容器: {node} (reagent: {reagent_name}) ✨")
-                return node
-            
-            if solvent in reagent_config or reagent_config in solvent:
-                debug_print(f"🎉 通过config.reagent模糊匹配到溶剂容器: {node} (reagent: {reagent_config}) ✨")
-                return node
-    
-    # 🔧 方法2：常见的溶剂容器命名规则
-    possible_names = [
-        f"flask_{solvent}",
-        f"bottle_{solvent}",
-        f"reagent_{solvent}",
-        f"{solvent}_bottle",
-        f"{solvent}_flask",
-        f"solvent_{solvent}",
-        f"reagent_bottle_{solvent}"
-    ]
-    
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            node_type = G.nodes[vessel_name].get('type', '')
-            if node_type == 'container':
-                debug_print(f"🎉 通过命名规则找到溶剂容器: {vessel_name} ✨")
-                return vessel_name
-    
-    # 🔧 方法3：节点名称模糊匹配
-    for node in G.nodes():
-        node_type = G.nodes[node].get('type', '')
-        if node_type == 'container':
-            if ('flask_' in node or 'bottle_' in node or 'reagent_' in node) and solvent in node.lower():
-                debug_print(f"🎉 通过节点名称模糊匹配到溶剂容器: {node} ✨")
-                return node
-    
-    # 🔧 方法4：特殊溶剂名称映射
-    solvent_mapping = {
-        'dmf': ['dmf', 'dimethylformamide', 'n,n-dimethylformamide'],
-        'ethyl_acetate': ['ethyl_acetate', 'ethylacetate', 'etoac', 'ea'],
-        'hexane': ['hexane', 'hexanes', 'n-hexane'],
-        'methanol': ['methanol', 'meoh', 'ch3oh'],
-        'water': ['water', 'h2o', 'distilled_water'],
-        'acetone': ['acetone', 'ch3coch3', '2-propanone'],
-        'dichloromethane': ['dichloromethane', 'dcm', 'ch2cl2', 'methylene_chloride'],
-        'chloroform': ['chloroform', 'chcl3', 'trichloromethane']
-    }
-    
-    # 查找映射的同义词
-    for canonical_name, synonyms in solvent_mapping.items():
-        if solvent in synonyms:
-            debug_print(f"🔍 检测到溶剂同义词: '{solvent}' -> '{canonical_name}'")
-            return find_solvent_vessel(G, canonical_name)  # 递归搜索
-    
-    debug_print(f"⚠️ 未找到溶剂 '{solvent}' 的容器")
-    return ""
-
-def get_vessel_liquid_volume(vessel: dict) -> float:
-    """
-    获取容器中的液体体积 - 支持vessel字典
-    
-    Args:
-        vessel: 容器字典
-        
-    Returns:
-        float: 液体体积（mL）
-    """
-    if not vessel or "data" not in vessel:
-        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
-        return 0.0
-    
-    vessel_data = vessel["data"]
-    vessel_id = vessel.get("id", "unknown")
-    
-    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
-    
-    # 检查liquid_volume字段
-    if "liquid_volume" in vessel_data:
-        liquid_volume = vessel_data["liquid_volume"]
-        
-        # 处理列表格式
-        if isinstance(liquid_volume, list):
-            if len(liquid_volume) > 0:
-                volume = liquid_volume[0]
-                if isinstance(volume, (int, float)):
-                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
-                    return float(volume)
-        
-        # 处理直接数值格式
-        elif isinstance(liquid_volume, (int, float)):
-            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
-            return float(liquid_volume)
-    
-    # 检查其他可能的体积字段
-    volume_keys = ['current_volume', 'total_volume', 'volume']
-    for key in volume_keys:
-        if key in vessel_data:
-            try:
-                volume = float(vessel_data[key])
-                if volume > 0:
-                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
-                    return volume
-            except (ValueError, TypeError):
-                continue
-    
-    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
-    return 50.0
-
-def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
-    """
-    更新容器体积（同时更新vessel字典和图节点）
-    
-    Args:
-        vessel: 容器字典
-        G: 网络图
-        new_volume: 新体积
-        description: 更新描述
-    """
-    vessel_id = vessel.get("id", "unknown")
-    
-    if description:
-        debug_print(f"🔧 更新容器体积 - {description}")
-    
-    # 更新vessel字典中的体积
-    if "data" in vessel:
-        if "liquid_volume" in vessel["data"]:
-            current_volume = vessel["data"]["liquid_volume"]
-            if isinstance(current_volume, list):
-                if len(current_volume) > 0:
-                    vessel["data"]["liquid_volume"][0] = new_volume
-                else:
-                    vessel["data"]["liquid_volume"] = [new_volume]
-            else:
-                vessel["data"]["liquid_volume"] = new_volume
-        else:
-            vessel["data"]["liquid_volume"] = new_volume
-    else:
-        vessel["data"] = {"liquid_volume": new_volume}
-    
-    # 同时更新图中的容器数据
-    if vessel_id in G.nodes():
-        if 'data' not in G.nodes[vessel_id]:
-            G.nodes[vessel_id]['data'] = {}
-        
-        vessel_node_data = G.nodes[vessel_id]['data']
-        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-        
-        if isinstance(current_node_volume, list):
-            if len(current_node_volume) > 0:
-                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
-            else:
-                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
-        else:
-            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-    
-    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
-
 def calculate_solvent_volumes(total_volume: float, pct1: float, pct2: float) -> tuple:
     """根据百分比计算溶剂体积"""
     volume1 = (total_volume * pct1) / 100.0
     volume2 = (total_volume * pct2) / 100.0
-    
-    debug_print(f"🧮 溶剂体积计算: 总体积{total_volume}mL")
-    debug_print(f"  - 溶剂1: {pct1}% = {volume1}mL")
-    debug_print(f"  - 溶剂2: {pct2}% = {volume2}mL")
-    
     return (volume1, volume2)
 
 def generate_run_column_protocol(
     G: nx.DiGraph,
-    from_vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    to_vessel: dict,    # 🔧 修改：从字符串改为字典类型
+    from_vessel: dict,
+    to_vessel: dict,
     column: str,
     rf: str = "",
     pct1: str = "",
@@ -385,7 +174,7 @@ def generate_run_column_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成柱层析分离的协议序列 - 支持vessel字典和体积运算
-    
+
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         from_vessel: 源容器字典（从XDL传入）
@@ -398,173 +187,112 @@ def generate_run_column_protocol(
         solvent2: 第二种溶剂名称（可选）
         ratio: 溶剂比例（如 "5:95"，可选，优先级高于pct1/pct2）
         **kwargs: 其他可选参数
-    
+
     Returns:
         List[Dict[str, Any]]: 柱层析分离操作的动作序列
     """
-    
-    # 🔧 核心修改：从字典中提取容器ID
+
     from_vessel_id, _ = get_vessel(from_vessel)
     to_vessel_id, _ = get_vessel(to_vessel)
 
-    debug_print("🏛️" * 20)
-    debug_print("🚀 开始生成柱层析协议（支持vessel字典和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 from_vessel: {from_vessel} (ID: {from_vessel_id})")
-    debug_print(f"  🥽 to_vessel: {to_vessel} (ID: {to_vessel_id})")
-    debug_print(f"  🏛️ column: '{column}'")
-    debug_print(f"  📊 rf: '{rf}'")
-    debug_print(f"  🧪 溶剂配比: pct1='{pct1}', pct2='{pct2}', ratio='{ratio}'")
-    debug_print(f"  🧪 溶剂名称: solvent1='{solvent1}', solvent2='{solvent2}'")
-    debug_print("🏛️" * 20)
-    
+    debug_print(f"开始生成柱层析协议: {from_vessel_id} -> {to_vessel_id}, column={column}")
+
     action_sequence = []
-    
-    # 🔧 新增：记录柱层析前的容器状态
-    debug_print("🔍 记录柱层析前容器状态...")
-    original_from_volume = get_vessel_liquid_volume(from_vessel)
-    original_to_volume = get_vessel_liquid_volume(to_vessel)
-    
-    debug_print(f"📊 柱层析前状态:")
-    debug_print(f"  - 源容器 {from_vessel_id}: {original_from_volume:.2f}mL")
-    debug_print(f"  - 目标容器 {to_vessel_id}: {original_to_volume:.2f}mL")
-    
+
+    # 记录柱层析前的容器状态
+    original_from_volume = get_resource_liquid_volume(from_vessel)
+    original_to_volume = get_resource_liquid_volume(to_vessel)
+
     # === 参数验证 ===
-    debug_print("📍 步骤1: 参数验证...")
-    
-    if not from_vessel_id:  # 🔧 使用 from_vessel_id
+    if not from_vessel_id:
         raise ValueError("from_vessel 参数不能为空")
-    if not to_vessel_id:    # 🔧 使用 to_vessel_id
+    if not to_vessel_id:
         raise ValueError("to_vessel 参数不能为空")
     if not column:
         raise ValueError("column 参数不能为空")
-    
-    if from_vessel_id not in G.nodes():  # 🔧 使用 from_vessel_id
+
+    if from_vessel_id not in G.nodes():
         raise ValueError(f"源容器 '{from_vessel_id}' 不存在于系统中")
-    if to_vessel_id not in G.nodes():    # 🔧 使用 to_vessel_id
+    if to_vessel_id not in G.nodes():
         raise ValueError(f"目标容器 '{to_vessel_id}' 不存在于系统中")
-    
-    debug_print("✅ 基本参数验证通过")
-    
+
     # === 参数解析 ===
-    debug_print("📍 步骤2: 参数解析...")
-    
-    # 解析Rf值
     final_rf = parse_rf_value(rf)
-    debug_print(f"🎯 最终Rf值: {final_rf}")
-    
-    # 解析溶剂比例（ratio优先级高于pct1/pct2）
+
     if ratio and ratio.strip():
         final_pct1, final_pct2 = parse_ratio(ratio)
-        debug_print(f"📊 使用ratio参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
     else:
         final_pct1 = parse_percentage(pct1) if pct1 else 50.0
         final_pct2 = parse_percentage(pct2) if pct2 else 50.0
-        
-        # 如果百分比和不是100%，进行归一化
+
         total_pct = final_pct1 + final_pct2
         if total_pct == 0:
             final_pct1, final_pct2 = 50.0, 50.0
         elif total_pct != 100.0:
             final_pct1 = (final_pct1 / total_pct) * 100
             final_pct2 = (final_pct2 / total_pct) * 100
-        
-        debug_print(f"📊 使用百分比参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
-    
-    # 设置默认溶剂（如果未指定）
+
     final_solvent1 = solvent1.strip() if solvent1 else "ethyl_acetate"
     final_solvent2 = solvent2.strip() if solvent2 else "hexane"
-    
-    debug_print(f"🧪 最终溶剂: {final_solvent1} : {final_solvent2}")
-    
+
+    debug_print(f"参数: rf={final_rf}, 溶剂={final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
+
     # === 查找设备和容器 ===
-    debug_print("📍 步骤3: 查找设备和容器...")
-    
-    # 查找柱层析设备
     column_device_id = find_column_device(G)
-    
-    # 查找柱容器
     column_vessel = find_column_vessel(G, column)
-    
-    # 查找溶剂容器
     solvent1_vessel = find_solvent_vessel(G, final_solvent1)
     solvent2_vessel = find_solvent_vessel(G, final_solvent2)
-    
-    debug_print(f"🔧 设备映射:")
-    debug_print(f"  - 柱设备: '{column_device_id}'")
-    debug_print(f"  - 柱容器: '{column_vessel}'")
-    debug_print(f"  - 溶剂1容器: '{solvent1_vessel}'")
-    debug_print(f"  - 溶剂2容器: '{solvent2_vessel}'")
-    
+
     # === 获取源容器体积 ===
-    debug_print("📍 步骤4: 获取源容器体积...")
-    
     source_volume = original_from_volume
     if source_volume <= 0:
-        source_volume = 50.0  # 默认体积
-        debug_print(f"⚠️ 无法获取源容器体积，使用默认值: {source_volume}mL")
-    else:
-        debug_print(f"✅ 源容器体积: {source_volume}mL")
-    
+        source_volume = 50.0
+
     # === 计算溶剂体积 ===
-    debug_print("📍 步骤5: 计算溶剂体积...")
-    
-    # 洗脱溶剂通常是样品体积的2-5倍
     total_elution_volume = source_volume * 3.0
     solvent1_volume, solvent2_volume = calculate_solvent_volumes(
         total_elution_volume, final_pct1, final_pct2
     )
-    
+
     # === 执行柱层析流程 ===
-    debug_print("📍 步骤6: 执行柱层析流程...")
-    
-    # 🔧 新增：体积变化跟踪变量
     current_from_volume = source_volume
     current_to_volume = original_to_volume
     current_column_volume = 0.0
-    
+
     try:
-        # 步骤6.1: 样品上柱（如果有独立的柱容器）
-        if column_vessel and column_vessel != from_vessel_id:  # 🔧 使用 from_vessel_id
-            debug_print(f"📍 6.1: 样品上柱 - {source_volume}mL 从 {from_vessel_id} 到 {column_vessel}")
-            
+        # 步骤1: 样品上柱
+        if column_vessel and column_vessel != from_vessel_id:
             try:
                 sample_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
-                    from_vessel=from_vessel_id,  # 🔧 使用 from_vessel_id
+                    from_vessel=from_vessel_id,
                     to_vessel=column_vessel,
                     volume=source_volume,
-                    flowrate=1.0,  # 慢速上柱
+                    flowrate=1.0,
                     transfer_flowrate=0.5,
-                    rinsing_solvent="",  # 暂不冲洗
+                    rinsing_solvent="",
                     rinsing_volume=0.0,
                     rinsing_repeats=0
                 )
                 action_sequence.extend(sample_transfer_actions)
-                debug_print(f"✅ 样品上柱完成，添加了 {len(sample_transfer_actions)} 个动作")
-                
-                # 🔧 新增：更新体积 - 样品转移到柱上
-                current_from_volume = 0.0  # 源容器体积变为0
-                current_column_volume = source_volume  # 柱容器体积增加
-                
+
+                current_from_volume = 0.0
+                current_column_volume = source_volume
+
                 update_vessel_volume(from_vessel, G, current_from_volume, "样品上柱后，源容器清空")
-                
-                # 如果柱容器在图中，也更新其体积
+
                 if column_vessel in G.nodes():
                     if 'data' not in G.nodes[column_vessel]:
                         G.nodes[column_vessel]['data'] = {}
                     G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
-                    debug_print(f"📊 柱容器 '{column_vessel}' 体积更新为: {current_column_volume:.2f}mL")
-                
+
             except Exception as e:
-                debug_print(f"⚠️ 样品上柱失败: {str(e)}")
-        
-        # 步骤6.2: 添加洗脱溶剂1（如果有溶剂容器）
+                debug_print(f"样品上柱失败: {str(e)}")
+
+        # 步骤2: 添加洗脱溶剂1
         if solvent1_vessel and solvent1_volume > 0:
-            debug_print(f"📍 6.2: 添加洗脱溶剂1 - {solvent1_volume:.1f}mL {final_solvent1}")
-            
             try:
-                target_vessel = column_vessel if column_vessel else from_vessel_id  # 🔧 使用 from_vessel_id
+                target_vessel = column_vessel if column_vessel else from_vessel_id
                 solvent1_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
                     from_vessel=solvent1_vessel,
@@ -574,27 +302,22 @@ def generate_run_column_protocol(
                     transfer_flowrate=1.0
                 )
                 action_sequence.extend(solvent1_transfer_actions)
-                debug_print(f"✅ 溶剂1添加完成，添加了 {len(solvent1_transfer_actions)} 个动作")
-                
-                # 🔧 新增：更新体积 - 添加溶剂1
+
                 if target_vessel == column_vessel:
                     current_column_volume += solvent1_volume
                     if column_vessel in G.nodes():
                         G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
-                        debug_print(f"📊 柱容器体积增加: +{solvent1_volume:.2f}mL = {current_column_volume:.2f}mL")
                 elif target_vessel == from_vessel_id:
                     current_from_volume += solvent1_volume
                     update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂1后")
-                
+
             except Exception as e:
-                debug_print(f"⚠️ 溶剂1添加失败: {str(e)}")
-        
-        # 步骤6.3: 添加洗脱溶剂2（如果有溶剂容器）
+                debug_print(f"溶剂1添加失败: {str(e)}")
+
+        # 步骤3: 添加洗脱溶剂2
         if solvent2_vessel and solvent2_volume > 0:
-            debug_print(f"📍 6.3: 添加洗脱溶剂2 - {solvent2_volume:.1f}mL {final_solvent2}")
-            
             try:
-                target_vessel = column_vessel if column_vessel else from_vessel_id  # 🔧 使用 from_vessel_id
+                target_vessel = column_vessel if column_vessel else from_vessel_id
                 solvent2_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
                     from_vessel=solvent2_vessel,
@@ -604,31 +327,26 @@ def generate_run_column_protocol(
                     transfer_flowrate=1.0
                 )
                 action_sequence.extend(solvent2_transfer_actions)
-                debug_print(f"✅ 溶剂2添加完成，添加了 {len(solvent2_transfer_actions)} 个动作")
-                
-                # 🔧 新增：更新体积 - 添加溶剂2
+
                 if target_vessel == column_vessel:
                     current_column_volume += solvent2_volume
                     if column_vessel in G.nodes():
                         G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
-                        debug_print(f"📊 柱容器体积增加: +{solvent2_volume:.2f}mL = {current_column_volume:.2f}mL")
                 elif target_vessel == from_vessel_id:
                     current_from_volume += solvent2_volume
                     update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂2后")
-                
+
             except Exception as e:
-                debug_print(f"⚠️ 溶剂2添加失败: {str(e)}")
-        
-        # 步骤6.4: 使用柱层析设备执行分离（如果有设备）
+                debug_print(f"溶剂2添加失败: {str(e)}")
+
+        # 步骤4: 使用柱层析设备执行分离
         if column_device_id:
-            debug_print(f"📍 6.4: 使用柱层析设备执行分离")
-            
             column_separation_action = {
                 "device_id": column_device_id,
                 "action_name": "run_column",
                 "action_kwargs": {
-                    "from_vessel": from_vessel_id,  # 🔧 使用 from_vessel_id
-                    "to_vessel": to_vessel_id,      # 🔧 使用 to_vessel_id
+                    "from_vessel": from_vessel_id,
+                    "to_vessel": to_vessel_id,
                     "column": column,
                     "rf": rf,
                     "pct1": pct1,
@@ -639,85 +357,65 @@ def generate_run_column_protocol(
                 }
             }
             action_sequence.append(column_separation_action)
-            debug_print(f"✅ 柱层析设备动作已添加")
-            
-            # 等待分离完成
-            separation_time = max(30, min(120, int(total_elution_volume / 2)))  # 30-120秒，基于体积
+
+            separation_time = max(30, min(120, int(total_elution_volume / 2)))
             action_sequence.append({
                 "action_name": "wait",
                 "action_kwargs": {"time": separation_time}
             })
-            debug_print(f"✅ 等待分离完成: {separation_time}秒")
-        
-        # 步骤6.5: 产物收集（从柱容器到目标容器）
-        if column_vessel and column_vessel != to_vessel_id:  # 🔧 使用 to_vessel_id
-            debug_print(f"📍 6.5: 产物收集 - 从 {column_vessel} 到 {to_vessel_id}")
-            
+
+        # 步骤5: 产物收集
+        if column_vessel and column_vessel != to_vessel_id:
             try:
-                # 估算产物体积（原始样品体积的70-90%，收率考虑）
                 product_volume = source_volume * 0.8
-                
+
                 product_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
                     from_vessel=column_vessel,
-                    to_vessel=to_vessel_id,  # 🔧 使用 to_vessel_id
+                    to_vessel=to_vessel_id,
                     volume=product_volume,
                     flowrate=1.5,
                     transfer_flowrate=0.8
                 )
                 action_sequence.extend(product_transfer_actions)
-                debug_print(f"✅ 产物收集完成，添加了 {len(product_transfer_actions)} 个动作")
-                
-                # 🔧 新增：更新体积 - 产物收集到目标容器
+
                 current_to_volume += product_volume
-                current_column_volume -= product_volume  # 柱容器体积减少
-                
+                current_column_volume -= product_volume
+
                 update_vessel_volume(to_vessel, G, current_to_volume, "产物收集后")
-                
-                # 更新柱容器体积
+
                 if column_vessel in G.nodes():
                     G.nodes[column_vessel]['data']['liquid_volume'] = max(0.0, current_column_volume)
-                    debug_print(f"📊 柱容器体积减少: -{product_volume:.2f}mL = {current_column_volume:.2f}mL")
-                
+
             except Exception as e:
-                debug_print(f"⚠️ 产物收集失败: {str(e)}")
-        
-        # 步骤6.6: 如果没有独立的柱设备和容器，执行简化的直接转移
+                debug_print(f"产物收集失败: {str(e)}")
+
+        # 步骤6: 简化模式 - 直接转移
         if not column_device_id and not column_vessel:
-            debug_print(f"📍 6.6: 简化模式 - 直接转移 {source_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}")
-            
             try:
                 direct_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
-                    from_vessel=from_vessel_id,  # 🔧 使用 from_vessel_id
-                    to_vessel=to_vessel_id,      # 🔧 使用 to_vessel_id
+                    from_vessel=from_vessel_id,
+                    to_vessel=to_vessel_id,
                     volume=source_volume,
                     flowrate=2.0,
                     transfer_flowrate=1.0
                 )
                 action_sequence.extend(direct_transfer_actions)
-                debug_print(f"✅ 直接转移完成，添加了 {len(direct_transfer_actions)} 个动作")
-                
-                # 🔧 新增：更新体积 - 直接转移
-                current_from_volume = 0.0  # 源容器清空
-                current_to_volume += source_volume  # 目标容器增加
-                
+
+                current_from_volume = 0.0
+                current_to_volume += source_volume
+
                 update_vessel_volume(from_vessel, G, current_from_volume, "直接转移后，源容器清空")
                 update_vessel_volume(to_vessel, G, current_to_volume, "直接转移后，目标容器增加")
-                
+
             except Exception as e:
-                debug_print(f"⚠️ 直接转移失败: {str(e)}")
-        
+                debug_print(f"直接转移失败: {str(e)}")
+
     except Exception as e:
-        debug_print(f"❌ 协议生成失败: {str(e)} 😭")
-        
-        # 不添加不确定的动作，直接让action_sequence保持为空列表
-        # action_sequence 已经在函数开始时初始化为 []
-    
-    # 确保至少有一个有效的动作，如果完全失败就返回空列表
+        debug_print(f"协议生成失败: {str(e)}")
+
     if not action_sequence:
-        debug_print("⚠️ 没有生成任何有效动作")
-        # 可以选择返回空列表或添加一个基本的等待动作
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {
@@ -725,83 +423,50 @@ def generate_run_column_protocol(
                 "description": "柱层析协议执行完成"
             }
         })
-    
-    # 🔧 新增：柱层析完成后的最终状态报告
-    final_from_volume = get_vessel_liquid_volume(from_vessel)
-    final_to_volume = get_vessel_liquid_volume(to_vessel)
-    
-    # 🎊 总结
-    debug_print("🏛️" * 20)
-    debug_print(f"🎉 柱层析协议生成完成! ✨")
-    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
-    debug_print(f"🥽 路径: {from_vessel_id} → {to_vessel_id}")
-    debug_print(f"🏛️ 柱子: {column}")
-    debug_print(f"🧪 溶剂: {final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
-    debug_print(f"📊 体积变化统计:")
-    debug_print(f"  源容器 {from_vessel_id}:")
-    debug_print(f"    - 柱层析前: {original_from_volume:.2f}mL")
-    debug_print(f"    - 柱层析后: {final_from_volume:.2f}mL")
-    debug_print(f"  目标容器 {to_vessel_id}:")
-    debug_print(f"    - 柱层析前: {original_to_volume:.2f}mL")
-    debug_print(f"    - 柱层析后: {final_to_volume:.2f}mL")
-    debug_print(f"    - 收集体积: {final_to_volume - original_to_volume:.2f}mL")
-    debug_print(f"⏱️ 预计总时间: {len(action_sequence) * 5:.0f} 秒 ⌛")
-    debug_print("🏛️" * 20)
-    
+
+    final_from_volume = get_resource_liquid_volume(from_vessel)
+    final_to_volume = get_resource_liquid_volume(to_vessel)
+
+    debug_print(f"柱层析协议生成完成: {len(action_sequence)} 个动作, {from_vessel_id} -> {to_vessel_id}, 收集={final_to_volume - original_to_volume:.2f}mL")
+
     return action_sequence
 
-# 🔧 新增：便捷函数
-def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
+# 便捷函数
+def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
                                                  column: str, ratio: str = "30:70") -> List[Dict[str, Any]]:
     """乙酸乙酯-己烷柱层析（常用组合）"""
-    from_vessel_id = from_vessel["id"]
-    to_vessel_id = to_vessel["id"]
-    debug_print(f"🧪⛽ 乙酸乙酯-己烷柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio=ratio)
 
-def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
+def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
                                         column: str, ratio: str = "5:95") -> List[Dict[str, Any]]:
     """甲醇-二氯甲烷柱层析"""
-    from_vessel_id = from_vessel["id"]
-    to_vessel_id = to_vessel["id"]
-    debug_print(f"🧪🧪 甲醇-DCM柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
                                       solvent1="methanol", solvent2="dichloromethane", ratio=ratio)
 
-def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
-                                    column: str, start_ratio: str = "10:90", 
+def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
+                                    column: str, start_ratio: str = "10:90",
                                     end_ratio: str = "50:50") -> List[Dict[str, Any]]:
     """梯度洗脱柱层析（中等比例）"""
-    from_vessel_id, _ = get_vessel(from_vessel)
-    to_vessel_id, _ = get_vessel(to_vessel)
-    debug_print(f"📈 梯度柱层析: {from_vessel_id} → {to_vessel_id} ({start_ratio} → {end_ratio})")
-    # 使用中间比例作为近似
     return generate_run_column_protocol(G, from_vessel, to_vessel, column, ratio="30:70")
 
-def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
+def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
                                  column: str) -> List[Dict[str, Any]]:
     """极性化合物柱层析（高极性溶剂比例）"""
-    from_vessel_id, _ = get_vessel(from_vessel)
-    to_vessel_id, _ = get_vessel(to_vessel)
-    debug_print(f"⚡ 极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio="70:30")
 
-def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
+def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
                                     column: str) -> List[Dict[str, Any]]:
     """非极性化合物柱层析（低极性溶剂比例）"""
-    from_vessel_id, _ = get_vessel(from_vessel)
-    to_vessel_id, _ = get_vessel(to_vessel)
-    debug_print(f"🛢️ 非极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio="5:95")
 
 # 测试函数
 def test_run_column_protocol():
     """测试柱层析协议"""
-    debug_print("🧪 === RUN COLUMN PROTOCOL 测试 === ✨")
-    debug_print("✅ 测试完成 🎉")
+    debug_print("=== RUN COLUMN PROTOCOL 测试 ===")
+    debug_print("测试完成")
 
 if __name__ == "__main__":
     test_run_column_protocol()

unilabos/compile/separate_protocol.py

@@ -1,41 +1,11 @@
-from functools import partial
-
 import networkx as nx
-import re
-import logging
-import sys
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
+from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_stirrer
+from .utils.resource_helper import get_resource_liquid_volume, update_vessel_volume
+from .utils.logger_util import debug_print, action_log
+from .utils.unit_parser import parse_volume_input
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
-logger = logging.getLogger(__name__)
-
-# 确保输出编码为UTF-8
-if hasattr(sys.stdout, 'reconfigure'):
-    try:
-        sys.stdout.reconfigure(encoding='utf-8')
-        sys.stderr.reconfigure(encoding='utf-8')
-    except:
-        pass
-
-def debug_print(message):
-    """调试输出函数 - 支持中文"""
-    try:
-        # 确保消息是字符串格式
-        safe_message = str(message)
-        logger.info(f"[SEPARATE] {safe_message}")
-    except UnicodeEncodeError:
-        # 如果编码失败，尝试替换不支持的字符
-        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
-        logger.info(f"[SEPARATE] {safe_message}")
-    except Exception as e:
-        # 最后的安全措施
-        fallback_message = f"日志输出错误: {repr(message)}"
-        logger.info(f"[SEPARATE] {fallback_message}")
-
-create_action_log = partial(action_log, prefix="[SEPARATE]")
-
 
 def generate_separate_protocol(
     G: nx.DiGraph,
@@ -93,45 +63,33 @@ def generate_separate_protocol(
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
 
-    debug_print("🌀" * 20)
-    debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  🎯 分离目的: '{purpose}'")
-    debug_print(f"  📊 产物相: '{product_phase}'")
-    debug_print(f"  💧 溶剂: '{solvent}'")
-    debug_print(f"  📏 体积: {volume} (类型: {type(volume)})")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print(f"  🎯 产物容器: '{product_vessel}'")
-    debug_print(f"  🗑️ 废液容器: '{waste_vessel}'")
-    debug_print(f"  📦 其他参数: {kwargs}")
-    debug_print("🌀" * 20)
+    debug_print(f"开始生成分离协议: vessel={vessel_id}, purpose={purpose}, "
+                f"product_phase={product_phase}, solvent={solvent}, "
+                f"volume={volume}, repeats={repeats}")
 
     action_sequence = []
 
-    # 🔧 新增：记录分离前的容器状态
-    debug_print("🔍 记录分离前容器状态...")
-    original_liquid_volume = get_vessel_liquid_volume(vessel)
-    debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
+    # 记录分离前的容器状态
+    original_liquid_volume = get_resource_liquid_volume(vessel)
+    debug_print(f"分离前液体体积: {original_liquid_volume:.2f}mL")
 
     # === 参数验证和标准化 ===
-    debug_print("🔍 步骤1: 参数验证和标准化...")
-    action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
-    action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
-    action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
+    action_sequence.append(action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬", prefix="[SEPARATE]"))
+    action_sequence.append(action_log(f"分离目的: {purpose}", "🧪", prefix="[SEPARATE]"))
+    action_sequence.append(action_log(f"产物相: {product_phase}", "📊", prefix="[SEPARATE]"))
 
     # 统一容器参数 - 支持字典和字符串
-    def extract_vessel_id(vessel_param):
-        if isinstance(vessel_param, dict):
-            return vessel_param.get("id", "")
-        elif isinstance(vessel_param, str):
-            return vessel_param
-        else:
-            return ""
+    final_vessel_id = vessel_id
 
-    final_vessel_id, _ = vessel_id
-    final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
-    final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
+    to_vessel_result = get_vessel(to_vessel) if to_vessel else None
+    if to_vessel_result is None or to_vessel_result[0] == "":
+        to_vessel_result = get_vessel(product_vessel) if product_vessel else None
+    final_to_vessel_id = to_vessel_result[0] if to_vessel_result else ""
+
+    waste_vessel_result = get_vessel(waste_phase_to_vessel) if waste_phase_to_vessel else None
+    if waste_vessel_result is None or waste_vessel_result[0] == "":
+        waste_vessel_result = get_vessel(waste_vessel) if waste_vessel else None
+    final_waste_vessel_id = waste_vessel_result[0] if waste_vessel_result else ""
 
     # 统一体积参数
     final_volume = parse_volume_input(volume or solvent_volume)
@@ -141,16 +99,12 @@ def generate_separate_protocol(
         repeats = 1
         debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
 
-    debug_print(f"🔧 标准化后的参数:")
-    debug_print(f"  🥼 分离容器: '{final_vessel_id}'")
-    debug_print(f"  🎯 产物容器: '{final_to_vessel_id}'")
-    debug_print(f"  🗑️ 废液容器: '{final_waste_vessel_id}'")
-    debug_print(f"  📏 溶剂体积: {final_volume}mL")
-    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"标准化参数: vessel={final_vessel_id}, to={final_to_vessel_id}, "
+                f"waste={final_waste_vessel_id}, volume={final_volume}mL, repeats={repeats}")
 
-    action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
-    action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
-    action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
+    action_sequence.append(action_log(f"分离容器: {final_vessel_id}", "🧪", prefix="[SEPARATE]"))
+    action_sequence.append(action_log(f"溶剂体积: {final_volume}mL", "📏", prefix="[SEPARATE]"))
+    action_sequence.append(action_log(f"重复次数: {repeats}", "🔄", prefix="[SEPARATE]"))
 
     # 验证必需参数
     if not purpose:
@@ -160,72 +114,68 @@ def generate_separate_protocol(
     if purpose not in ["wash", "extract", "separate"]:
         debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
         purpose = "separate"
-        action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
+        action_sequence.append(action_log(f"未知目的，使用: {purpose}", "⚠️", prefix="[SEPARATE]"))
     if product_phase not in ["top", "bottom"]:
         debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
         product_phase = "top"
-        action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
+        action_sequence.append(action_log(f"未知相别，使用: {product_phase}", "⚠️", prefix="[SEPARATE]"))
 
-    debug_print("✅ 参数验证通过")
-    action_sequence.append(create_action_log("参数验证通过", "✅"))
+    action_sequence.append(action_log("参数验证通过", "✅", prefix="[SEPARATE]"))
 
     # === 查找设备 ===
-    debug_print("🔍 步骤2: 查找设备...")
-    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
+    action_sequence.append(action_log("正在查找相关设备...", "🔍", prefix="[SEPARATE]"))
 
     # 查找分离器设备
-    separator_device = find_separator_device(G, final_vessel_id)  # 🔧 使用 final_vessel_id
+    separator_device = find_separator_device(G, final_vessel_id)
     if separator_device:
-        action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
+        action_sequence.append(action_log(f"找到分离器设备: {separator_device}", "🧪", prefix="[SEPARATE]"))
     else:
         debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
-        action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
+        action_sequence.append(action_log("未找到分离器设备", "⚠️", prefix="[SEPARATE]"))
 
     # 查找搅拌器
-    stirrer_device = find_connected_stirrer(G, final_vessel_id)  # 🔧 使用 final_vessel_id
+    stirrer_device = find_connected_stirrer(G, final_vessel_id)
     if stirrer_device:
-        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
+        action_sequence.append(action_log(f"找到搅拌器: {stirrer_device}", "🌪️", prefix="[SEPARATE]"))
     else:
-        action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
+        action_sequence.append(action_log("未找到搅拌器", "⚠️", prefix="[SEPARATE]"))
 
     # 查找溶剂容器（如果需要）
     solvent_vessel = ""
     if solvent and solvent.strip():
-        solvent_vessel = find_solvent_vessel(G, solvent)
+        try:
+            solvent_vessel = find_solvent_vessel(G, solvent)
+        except ValueError:
+            solvent_vessel = ""
         if solvent_vessel:
-            action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
+            action_sequence.append(action_log(f"找到溶剂容器: {solvent_vessel}", "💧", prefix="[SEPARATE]"))
         else:
-            action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
+            action_sequence.append(action_log(f"未找到溶剂容器: {solvent}", "⚠️", prefix="[SEPARATE]"))
 
-    debug_print(f"📊 设备配置:")
-    debug_print(f"  🧪 分离器设备: '{separator_device}'")
-    debug_print(f"  🌪️ 搅拌器设备: '{stirrer_device}'")
-    debug_print(f"  💧 溶剂容器: '{solvent_vessel}'")
+    debug_print(f"设备配置: separator={separator_device}, stirrer={stirrer_device}, solvent_vessel={solvent_vessel}")
 
     # === 执行分离流程 ===
-    debug_print("🔍 步骤3: 执行分离流程...")
-    action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
+    action_sequence.append(action_log("开始分离工作流程", "🎯", prefix="[SEPARATE]"))
 
-    # 🔧 新增：体积变化跟踪变量
+    # 体积变化跟踪变量
     current_volume = original_liquid_volume
 
     try:
         for repeat_idx in range(repeats):
             cycle_num = repeat_idx + 1
-            debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
-            action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
+            debug_print(f"分离循环 {cycle_num}/{repeats} 开始")
+            action_sequence.append(action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄", prefix="[SEPARATE]"))
 
             # 步骤3.1: 添加溶剂（如果需要）
             if solvent_vessel and final_volume > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
-                action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
+                action_sequence.append(action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧", prefix="[SEPARATE]"))
 
                 try:
                     # 使用pump protocol添加溶剂
                     pump_actions = generate_pump_protocol_with_rinsing(
                         G=G,
                         from_vessel=solvent_vessel,
-                        to_vessel=final_vessel_id,  # 🔧 使用 final_vessel_id
+                        to_vessel=final_vessel_id,
                         volume=final_volume,
                         amount="",
                         time=0.0,
@@ -242,30 +192,27 @@ def generate_separate_protocol(
                         **kwargs
                     )
                     action_sequence.extend(pump_actions)
-                    debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
-                    action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
+                    action_sequence.append(action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅", prefix="[SEPARATE]"))
 
-                    # 🔧 新增：更新体积 - 添加溶剂后
+                    # 更新体积 - 添加溶剂后
                     current_volume += final_volume
                     update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
 
                 except Exception as e:
                     debug_print(f"❌ 溶剂添加失败: {str(e)}")
-                    action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
+                    action_sequence.append(action_log(f"溶剂添加失败: {str(e)}", "❌", prefix="[SEPARATE]"))
             else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
-                action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
+                action_sequence.append(action_log("无需添加溶剂", "⏭️", prefix="[SEPARATE]"))
 
             # 步骤3.2: 启动搅拌（如果有搅拌器）
             if stirrer_device and stir_time > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
-                action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
+                action_sequence.append(action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️", prefix="[SEPARATE]"))
 
                 action_sequence.append({
                     "device_id": stirrer_device,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": {"id": final_vessel_id},  # 🔧 使用 final_vessel_id
+                        "vessel": {"id": final_vessel_id},
                         "stir_speed": stir_speed,
                         "purpose": f"分离混合 - {purpose}"
                     }
@@ -273,43 +220,37 @@ def generate_separate_protocol(
 
                 # 搅拌等待
                 stir_minutes = stir_time / 60
-                action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
+                action_sequence.append(action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️", prefix="[SEPARATE]"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": stir_time}
                 })
 
                 # 停止搅拌
-                action_sequence.append(create_action_log("停止搅拌器", "🛑"))
+                action_sequence.append(action_log("停止搅拌器", "🛑", prefix="[SEPARATE]"))
                 action_sequence.append({
                     "device_id": stirrer_device,
                     "action_name": "stop_stir",
-                    "action_kwargs": {"vessel": final_vessel_id}  # 🔧 使用 final_vessel_id
+                    "action_kwargs": {"vessel": final_vessel_id}
                 })
 
             else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
-                action_sequence.append(create_action_log("无需搅拌", "⏭️"))
+                action_sequence.append(action_log("无需搅拌", "⏭️", prefix="[SEPARATE]"))
 
             # 步骤3.3: 静置分层
             if settling_time > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
                 settling_minutes = settling_time / 60
-                action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
+                action_sequence.append(action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️", prefix="[SEPARATE]"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": settling_time}
                 })
             else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
-                action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
+                action_sequence.append(action_log("未指定静置时间", "⏭️", prefix="[SEPARATE]"))
 
             # 步骤3.4: 执行分离操作
             if separator_device:
-                debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
-                action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
-
-                # 🔧 替换为具体的分离操作逻辑（基于old版本）
+                action_sequence.append(action_log(f"执行分离: 收集{product_phase}相", "🧪", prefix="[SEPARATE]"))
 
                 # 首先进行分液判断（电导突跃）
                 action_sequence.append({
@@ -324,11 +265,10 @@ def generate_separate_protocol(
                 phase_volume = current_volume / 2
 
                 # 智能查找分离容器底部
-                separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)  # ✅
+                separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)
 
                 if product_phase == "bottom":
-                    debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
-                    action_sequence.append(create_action_log("收集底相产物", "📦"))
+                    action_sequence.append(action_log("收集底相产物", "📦", prefix="[SEPARATE]"))
 
                     # 产物转移到目标瓶
                     if final_to_vessel_id:
@@ -364,8 +304,7 @@ def generate_separate_protocol(
                         action_sequence.extend(pump_actions)
 
                 elif product_phase == "top":
-                    debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
-                    action_sequence.append(create_action_log("收集上相产物", "📦"))
+                    action_sequence.append(action_log("收集上相产物", "📦", prefix="[SEPARATE]"))
 
                     # 弃去下面那一相进废液
                     if final_waste_vessel_id:
@@ -400,10 +339,9 @@ def generate_separate_protocol(
                         )
                         action_sequence.extend(pump_actions)
 
-                debug_print(f"✅ 分离操作已完成")
-                action_sequence.append(create_action_log("分离操作完成", "✅"))
+                action_sequence.append(action_log("分离操作完成", "✅", prefix="[SEPARATE]"))
 
-                # 🔧 新增：分离后体积估算
+                # 分离后体积估算
                 separated_volume = phase_volume * 0.95  # 假设5%损失，只保留产物相体积
                 update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
                 current_volume = separated_volume
@@ -411,23 +349,21 @@ def generate_separate_protocol(
                 # 收集结果
                 if final_to_vessel_id:
                     action_sequence.append(
-                        create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
+                        action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦", prefix="[SEPARATE]"))
                 if final_waste_vessel_id:
-                    action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
+                    action_sequence.append(action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️", prefix="[SEPARATE]"))
 
             else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
-                action_sequence.append(create_action_log("无分离器设备可用", "❌"))
+                action_sequence.append(action_log("无分离器设备可用", "❌", prefix="[SEPARATE]"))
                 # 添加等待时间模拟分离
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 10.0}
                 })
 
-            # 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
+            # 如果不是最后一次，从中转瓶转移回分液漏斗
             if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
-                debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
-                action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
+                action_sequence.append(action_log("产物转回分离容器，准备下一轮", "🔄", prefix="[SEPARATE]"))
 
                 pump_actions = generate_pump_protocol_with_rinsing(
                     G=G,
@@ -444,368 +380,85 @@ def generate_separate_protocol(
 
             # 循环间等待（除了最后一次）
             if repeat_idx < repeats - 1:
-                debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
-                action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
+                action_sequence.append(action_log("等待下一次循环...", "⏳", prefix="[SEPARATE]"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
                 })
             else:
-                action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
+                action_sequence.append(action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟", prefix="[SEPARATE]"))
 
     except Exception as e:
         debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
-        action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
+        action_sequence.append(action_log(f"分离工作流程失败: {str(e)}", "❌", prefix="[SEPARATE]"))
 
-    # 🔧 新增：分离完成后的最终状态报告
-    final_liquid_volume = get_vessel_liquid_volume(vessel)
+    # 分离完成后的最终状态报告
+    final_liquid_volume = get_resource_liquid_volume(vessel)
 
     # === 最终结果 ===
     total_time = (stir_time + settling_time + 15) * repeats  # 估算总时间
 
-    debug_print("🌀" * 20)
-    debug_print(f"🎉 分离协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time / 60:.1f} 分钟)")
-    debug_print(f"  🥼 分离容器: {final_vessel_id}")
-    debug_print(f"  🎯 分离目的: {purpose}")
-    debug_print(f"  📊 产物相: {product_phase}")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print(f"💧 体积变化统计:")
-    debug_print(f"  - 分离前体积: {original_liquid_volume:.2f}mL")
-    debug_print(f"  - 分离后体积: {final_liquid_volume:.2f}mL")
-    if solvent:
-        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
-    if final_to_vessel_id:
-        debug_print(f"  🎯 产物容器: {final_to_vessel_id}")
-    if final_waste_vessel_id:
-        debug_print(f"  🗑️ 废液容器: {final_waste_vessel_id}")
-    debug_print("🌀" * 20)
+    debug_print(f"分离协议生成完成: {len(action_sequence)} 个动作, "
+                f"预计 {total_time:.0f}s, 体积 {original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
 
     # 添加完成日志
     summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
     if solvent:
         summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
-    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    action_sequence.append(action_log(summary_msg, "🎉", prefix="[SEPARATE]"))
 
     return action_sequence
 
-def parse_volume_input(volume_input: Union[str, float]) -> float:
-    """
-    解析体积输入，支持带单位的字符串
-    
-    Args:
-        volume_input: 体积输入（如 "200 mL", "?", 50.0）
-    
-    Returns:
-        float: 体积（毫升）
-    """
-    if isinstance(volume_input, (int, float)):
-        debug_print(f"📏 体积输入为数值: {volume_input}")
-        return float(volume_input)
-    
-    if not volume_input or not str(volume_input).strip():
-        debug_print(f"⚠️ 体积输入为空，返回 0.0mL")
-        return 0.0
-    
-    volume_str = str(volume_input).lower().strip()
-    debug_print(f"🔍 解析体积输入: '{volume_str}'")
-    
-    # 处理未知体积
-    if volume_str in ['?', 'unknown', 'tbd', 'to be determined', '未知', '待定']:
-        default_volume = 100.0  # 默认100mL
-        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL")
-        return default_volume
-    
-    # 移除空格并提取数字和单位
-    volume_clean = re.sub(r'\s+', '', volume_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter|毫升|升|微升)?', volume_clean)
-    
-    if not match:
-        debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值 100mL")
-        return 100.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'ml'  # 默认单位为毫升
-    
-    # 转换为毫升
-    if unit in ['l', 'liter', '升']:
-        volume = value * 1000.0  # L -> mL
-        debug_print(f"🔄 体积转换: {value}L -> {volume}mL")
-    elif unit in ['μl', 'ul', 'microliter', '微升']:
-        volume = value / 1000.0  # μL -> mL
-        debug_print(f"🔄 体积转换: {value}μL -> {volume}mL")
-    else:  # ml, milliliter, 毫升 或默认
-        volume = value  # 已经是mL
-        debug_print(f"✅ 体积已为毫升单位: {volume}mL")
-    
-    return volume
-
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """查找溶剂容器，支持多种匹配模式"""
-    if not solvent or not solvent.strip():
-        debug_print("⏭️ 未指定溶剂，跳过溶剂容器查找")
-        return ""
-    
-    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
-    
-    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
-    debug_print(f"📋 方法1: 搜索试剂字段...")
-    for node in G.nodes():
-        node_data = G.nodes[node].get('data', {})
-        node_type = G.nodes[node].get('type', '')
-        config_data = G.nodes[node].get('config', {})
-        
-        # 只搜索容器类型的节点
-        if node_type == 'container':
-            reagent_name = node_data.get('reagent_name', '').lower()
-            config_reagent = config_data.get('reagent', '').lower()
-            
-            # 精确匹配
-            if reagent_name == solvent.lower() or config_reagent == solvent.lower():
-                debug_print(f"✅ 通过试剂字段精确匹配找到容器: {node}")
-                return node
-            
-            # 模糊匹配
-            if (solvent.lower() in reagent_name and reagent_name) or \
-               (solvent.lower() in config_reagent and config_reagent):
-                debug_print(f"✅ 通过试剂字段模糊匹配找到容器: {node}")
-                return node
-    
-    # 🔧 方法2：常见的容器命名规则
-    debug_print(f"📋 方法2: 使用命名规则...")
-    solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
-    possible_names = [
-        f"flask_{solvent_clean}",
-        f"bottle_{solvent_clean}",
-        f"vessel_{solvent_clean}",
-        f"{solvent_clean}_flask",
-        f"{solvent_clean}_bottle",
-        f"solvent_{solvent_clean}",
-        f"reagent_{solvent_clean}",
-        f"reagent_bottle_{solvent_clean}",
-        f"reagent_bottle_1",  # 通用试剂瓶
-        f"reagent_bottle_2",
-        f"reagent_bottle_3"
-    ]
-    
-    debug_print(f"🎯 尝试的容器名称: {possible_names[:5]}... (共 {len(possible_names)} 个)")
-    
-    for name in possible_names:
-        if name in G.nodes():
-            node_type = G.nodes[name].get('type', '')
-            if node_type == 'container':
-                debug_print(f"✅ 通过命名规则找到容器: {name}")
-                return name
-    
-    # 🔧 方法3：使用第一个试剂瓶作为备选
-    debug_print(f"📋 方法3: 查找备用试剂瓶...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if (node_data.get('type') == 'container' and 
-            ('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
-            debug_print(f"⚠️ 未找到专用容器，使用备用容器: {node_id}")
-            return node_id
-    
-    debug_print(f"❌ 无法找到溶剂 '{solvent}' 的容器")
-    return ""
 
 def find_separator_device(G: nx.DiGraph, vessel: str) -> str:
     """查找分离器设备，支持多种查找方式"""
-    debug_print(f"🔍 正在查找容器 '{vessel}' 的分离器设备...")
-    
     # 方法1：查找连接到容器的分离器设备
-    debug_print(f"📋 方法1: 检查连接的分离器...")
     separator_nodes = []
     for node in G.nodes():
         node_class = G.nodes[node].get('class', '').lower()
         if 'separator' in node_class:
             separator_nodes.append(node)
-            debug_print(f"📋 发现分离器设备: {node}")
-            
             # 检查是否连接到目标容器
             if G.has_edge(node, vessel) or G.has_edge(vessel, node):
-                debug_print(f"✅ 找到连接的分离器: {node}")
                 return node
-    
-    debug_print(f"📊 找到的分离器总数: {len(separator_nodes)}")
-    
+
     # 方法2：根据命名规则查找
-    debug_print(f"📋 方法2: 使用命名规则...")
     possible_names = [
         f"{vessel}_controller",
         f"{vessel}_separator",
         vessel,  # 容器本身可能就是分离器
         "separator_1",
         "virtual_separator",
-        "liquid_handler_1",  # 液体处理器也可能用于分离
+        "liquid_handler_1",
         "controller_1"
     ]
-    
-    debug_print(f"🎯 尝试的分离器名称: {possible_names}")
-    
+
     for name in possible_names:
         if name in G.nodes():
             node_class = G.nodes[name].get('class', '').lower()
             if 'separator' in node_class or 'controller' in node_class:
-                debug_print(f"✅ 通过命名规则找到分离器: {name}")
                 return name
-    
-    # 方法3：查找第一个分离器设备
-    debug_print(f"📋 方法3: 使用第一个可用分离器...")
+
+    # 方法3：使用第一个可用分离器
     if separator_nodes:
         debug_print(f"⚠️ 使用第一个分离器设备: {separator_nodes[0]}")
         return separator_nodes[0]
-    
+
     debug_print(f"❌ 未找到分离器设备")
     return ""
 
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
-    """查找连接到指定容器的搅拌器"""
-    debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
-    
-    stirrer_nodes = []
-    for node in G.nodes():
-        node_data = G.nodes[node]
-        node_class = node_data.get('class', '') or ''
-        
-        if 'stirrer' in node_class.lower():
-            stirrer_nodes.append(node)
-            debug_print(f"📋 发现搅拌器: {node}")
-    
-    debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
-    
-    # 检查哪个搅拌器与目标容器相连
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
-            return stirrer
-    
-    # 如果没有连接的搅拌器，返回第一个可用的
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
-        return stirrer_nodes[0]
-    
-    debug_print("❌ 未找到搅拌器")
-    return ""
-
-def get_vessel_liquid_volume(vessel: dict) -> float:
-    """
-    获取容器中的液体体积 - 支持vessel字典
-    
-    Args:
-        vessel: 容器字典
-        
-    Returns:
-        float: 液体体积（mL）
-    """
-    if not vessel or "data" not in vessel:
-        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
-        return 0.0
-    
-    vessel_data = vessel["data"]
-    vessel_id = vessel.get("id", "unknown")
-    
-    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
-    
-    # 检查liquid_volume字段
-    if "liquid_volume" in vessel_data:
-        liquid_volume = vessel_data["liquid_volume"]
-        
-        # 处理列表格式
-        if isinstance(liquid_volume, list):
-            if len(liquid_volume) > 0:
-                volume = liquid_volume[0]
-                if isinstance(volume, (int, float)):
-                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
-                    return float(volume)
-        
-        # 处理直接数值格式
-        elif isinstance(liquid_volume, (int, float)):
-            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
-            return float(liquid_volume)
-    
-    # 检查其他可能的体积字段
-    volume_keys = ['current_volume', 'total_volume', 'volume']
-    for key in volume_keys:
-        if key in vessel_data:
-            try:
-                volume = float(vessel_data[key])
-                if volume > 0:
-                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
-                    return volume
-            except (ValueError, TypeError):
-                continue
-    
-    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
-    return 50.0
-
-def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
-    """
-    更新容器体积（同时更新vessel字典和图节点）
-    
-    Args:
-        vessel: 容器字典
-        G: 网络图
-        new_volume: 新体积
-        description: 更新描述
-    """
-    vessel_id = vessel.get("id", "unknown")
-    
-    if description:
-        debug_print(f"🔧 更新容器体积 - {description}")
-    
-    # 更新vessel字典中的体积
-    if "data" in vessel:
-        if "liquid_volume" in vessel["data"]:
-            current_volume = vessel["data"]["liquid_volume"]
-            if isinstance(current_volume, list):
-                if len(current_volume) > 0:
-                    vessel["data"]["liquid_volume"][0] = new_volume
-                else:
-                    vessel["data"]["liquid_volume"] = [new_volume]
-            else:
-                vessel["data"]["liquid_volume"] = new_volume
-        else:
-            vessel["data"]["liquid_volume"] = new_volume
-    else:
-        vessel["data"] = {"liquid_volume": new_volume}
-    
-    # 同时更新图中的容器数据
-    if vessel_id in G.nodes():
-        if 'data' not in G.nodes[vessel_id]:
-            G.nodes[vessel_id]['data'] = {}
-        
-        vessel_node_data = G.nodes[vessel_id]['data']
-        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-        
-        if isinstance(current_node_volume, list):
-            if len(current_node_volume) > 0:
-                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
-            else:
-                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
-        else:
-            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-    
-    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
-
 
 def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
     """
     智能查找分离容器的底部容器（假设为flask或vessel类型）
-    
+
     Args:
         G: 网络图
         vessel_id: 分离容器ID
-        
+
     Returns:
         str: 底部容器ID
     """
-    debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
-    
     # 方法1：根据命名规则推测
     possible_bottoms = [
         f"{vessel_id}_bottom",
@@ -814,32 +467,25 @@ def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
         f"{vessel_id}_flask",
         f"{vessel_id}_vessel"
     ]
-    
-    debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
-    
+
     for bottom_id in possible_bottoms:
         if bottom_id in G.nodes():
             node_type = G.nodes[bottom_id].get('type', '')
             if node_type == 'container':
-                debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
                 return bottom_id
-    
-    # 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
-    debug_print(f"📋 方法2: 查找连接的容器...")
+
+    # 方法2：查找与分离器相连的容器
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-        
+
         if 'separator' in node_class.lower():
-            # 检查分离器的输入端
             if G.has_edge(node, vessel_id):
                 for neighbor in G.neighbors(node):
                     if neighbor != vessel_id:
                         neighbor_type = G.nodes[neighbor].get('type', '')
                         if neighbor_type == 'container':
-                            debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
                             return neighbor
-    
+
     debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
     return ""
-

unilabos/compile/stir_protocol.py

@@ -1,116 +1,40 @@
 from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
-import re
 
 from .utils.unit_parser import parse_time_input
+from .utils.resource_helper import get_resource_id, get_resource_display_info
+from .utils.logger_util import debug_print
+from .utils.vessel_parser import find_connected_stirrer
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[STIR] {message}")
-
-
-def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
-    """查找与指定容器相连的搅拌设备"""
-    debug_print(f"🔍 查找搅拌设备，目标容器: {vessel} 🥽")
-    
-    # 🔧 查找所有搅拌设备
-    stirrer_nodes = []
-    for node in G.nodes():
-        node_data = G.nodes[node]
-        node_class = node_data.get('class', '') or ''
-        
-        if 'stirrer' in node_class.lower() or 'virtual_stirrer' in node_class:
-            stirrer_nodes.append(node)
-            debug_print(f"🎉 找到搅拌设备: {node} 🌪️")
-    
-    # 🔗 检查连接
-    if vessel and stirrer_nodes:
-        for stirrer in stirrer_nodes:
-            if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-                debug_print(f"✅ 搅拌设备 '{stirrer}' 与容器 '{vessel}' 相连 🔗")
-                return stirrer
-    
-    # 🎯 使用第一个可用设备
-    if stirrer_nodes:
-        selected = stirrer_nodes[0]
-        debug_print(f"🔧 使用第一个搅拌设备: {selected} 🌪️")
-        return selected
-    
-    # 🆘 默认设备
-    debug_print("⚠️ 未找到搅拌设备，使用默认设备 🌪️")
-    return "stirrer_1"
-
 def validate_and_fix_params(stir_time: float, stir_speed: float, settling_time: float) -> tuple:
     """验证和修正参数"""
-    # ⏰ 搅拌时间验证
     if stir_time < 0:
-        debug_print(f"⚠️ 搅拌时间 {stir_time}s 无效，修正为 100s 🕐")
+        debug_print(f"搅拌时间 {stir_time}s 无效，修正为 100s")
         stir_time = 100.0
     elif stir_time > 100:  # 限制为100s
-        debug_print(f"⚠️ 搅拌时间 {stir_time}s 过长，仿真运行时，修正为 100s 🕐")
+        debug_print(f"搅拌时间 {stir_time}s 过长，仿真运行时修正为 100s")
         stir_time = 100.0
-    else:
-        debug_print(f"✅ 搅拌时间 {stir_time}s ({stir_time/60:.1f}分钟) 有效 ⏰")
-    
-    # 🌪️ 搅拌速度验证
+
     if stir_speed < 10.0 or stir_speed > 1500.0:
-        debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM 🌪️")
+        debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
         stir_speed = 300.0
-    else:
-        debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内 🌪️")
-    
-    # ⏱️ 沉降时间验证
+
     if settling_time < 0 or settling_time > 600:  # 限制为10分钟
-        debug_print(f"⚠️ 沉降时间 {settling_time}s 超出范围，修正为 60s ⏱️")
+        debug_print(f"沉降时间 {settling_time}s 超出范围，修正为 60s")
         settling_time = 60.0
-    else:
-        debug_print(f"✅ 沉降时间 {settling_time}s 在正常范围内 ⏱️")
-    
+
     return stir_time, stir_speed, settling_time
 
-def extract_vessel_id(vessel: Union[str, dict]) -> str:
-    """
-    从vessel参数中提取vessel_id
-    
-    Args:
-        vessel: vessel字典或vessel_id字符串
-        
-    Returns:
-        str: vessel_id
-    """
-    if isinstance(vessel, dict):
-        vessel_id = list(vessel.values())[0].get("id", "")
-        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
-        return vessel_id
-    elif isinstance(vessel, str):
-        debug_print(f"🔧 vessel参数为字符串: {vessel}")
-        return vessel
-    else:
-        debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
-        return ""
+def extract_vessel_id(vessel) -> str:
+    """从vessel参数中提取vessel_id，兼容 str / dict / ResourceDictInstance"""
+    return get_resource_id(vessel)
 
-def get_vessel_display_info(vessel: Union[str, dict]) -> str:
-    """
-    获取容器的显示信息（用于日志）
-    
-    Args:
-        vessel: vessel字典或vessel_id字符串
-        
-    Returns:
-        str: 显示信息
-    """
-    if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "unknown")
-        vessel_name = vessel.get("name", "")
-        if vessel_name:
-            return f"{vessel_id} ({vessel_name})"
-        else:
-            return vessel_id
-    else:
-        return str(vessel)
+def get_vessel_display_info(vessel) -> str:
+    """获取容器的显示信息（用于日志），兼容 str / dict / ResourceDictInstance"""
+    return get_resource_display_info(vessel)
 
 def generate_stir_protocol(
     G: nx.DiGraph,
@@ -125,16 +49,13 @@ def generate_stir_protocol(
 ) -> List[Dict[str, Any]]:
     """生成搅拌操作的协议序列 - 修复vessel参数传递"""
     
-    # 🔧 核心修改：正确处理vessel参数
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-    
-    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
+
+    # 确保vessel_resource是完整的Resource对象
     if isinstance(vessel, dict):
-        vessel_resource = vessel  # 已经是完整的Resource字典
-        debug_print(f"✅ 使用传入的vessel Resource对象")
+        vessel_resource = vessel
     else:
-        # 如果只是字符串，构建一个基本的Resource对象
         vessel_resource = {
             "id": vessel,
             "name": "",
@@ -150,91 +71,60 @@ def generate_stir_protocol(
             "sample_id": "",
             "type": ""
         }
-        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
-    
-    debug_print("🌪️" * 20)
-    debug_print("🚀 开始生成搅拌协议（支持vessel字典）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel_display} (ID: {vessel_id})")
-    debug_print(f"  ⏰ time: {time}")
-    debug_print(f"  🕐 stir_time: {stir_time}")
-    debug_print(f"  🎯 time_spec: {time_spec}")
-    debug_print(f"  🌪️ stir_speed: {stir_speed} RPM")
-    debug_print(f"  ⏱️ settling_time: {settling_time}")
-    debug_print("🌪️" * 20)
-    
-    # 📋 参数验证
-    debug_print("📍 步骤1: 参数验证... 🔧")
-    if not vessel_id:  # 🔧 使用 vessel_id
-        debug_print("❌ vessel 参数不能为空! 😱")
+
+    # 参数验证
+    if not vessel_id:
         raise ValueError("vessel 参数不能为空")
-    
-    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
+
+    if vessel_id not in G.nodes():
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
     
-    debug_print("✅ 基础参数验证通过 🎯")
-    
-    # 🔄 参数解析
-    debug_print("📍 步骤2: 参数解析... ⚡")
-    
-    # 确定实际时间（优先级：time_spec > stir_time > time）
+    # 参数解析 — 确定实际时间（优先级：time_spec > stir_time > time）
     if time_spec:
         parsed_time = parse_time_input(time_spec)
-        debug_print(f"🎯 使用time_spec: '{time_spec}' → {parsed_time}s")
     elif stir_time not in ["0", 0, 0.0]:
         parsed_time = parse_time_input(stir_time)
-        debug_print(f"🎯 使用stir_time: {stir_time} → {parsed_time}s")
     else:
         parsed_time = parse_time_input(time)
-        debug_print(f"🎯 使用time: {time} → {parsed_time}s")
     
     # 解析沉降时间
     parsed_settling_time = parse_time_input(settling_time)
     
-    # 🕐 模拟运行时间优化
-    debug_print("  ⏱️ 检查模拟运行时间限制...")
+    # 模拟运行时间优化
     original_stir_time = parsed_time
     original_settling_time = parsed_settling_time
-    
+
     # 搅拌时间限制为60秒
     stir_time_limit = 60.0
     if parsed_time > stir_time_limit:
         parsed_time = stir_time_limit
-        debug_print(f"  🎮 搅拌时间优化: {original_stir_time}s → {parsed_time}s ⚡")
-    
+
     # 沉降时间限制为30秒
     settling_time_limit = 30.0
     if parsed_settling_time > settling_time_limit:
         parsed_settling_time = settling_time_limit
-        debug_print(f"  🎮 沉降时间优化: {original_settling_time}s → {parsed_settling_time}s ⚡")
     
     # 参数修正
     parsed_time, stir_speed, parsed_settling_time = validate_and_fix_params(
         parsed_time, stir_speed, parsed_settling_time
     )
     
-    debug_print(f"🎯 最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
-    
-    # 🔍 查找设备
-    debug_print("📍 步骤3: 查找搅拌设备... 🔍")
+    debug_print(f"最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
+
+    # 查找设备
     try:
-        stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
-        debug_print(f"🎉 使用搅拌设备: {stirrer_id} ✨")
+        stirrer_id = find_connected_stirrer(G, vessel_id)
     except Exception as e:
-        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到搅拌设备: {str(e)}")
-    
-    # 🚀 生成动作
-    debug_print("📍 步骤4: 生成搅拌动作... 🌪️")
+
+    # 生成动作
     
     action_sequence = []
     stir_action = {
         "device_id": stirrer_id,
         "action_name": "stir",
         "action_kwargs": {
-            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},
             "time": str(time),
             "event": event,
             "time_spec": time_spec,
@@ -244,22 +134,14 @@ def generate_stir_protocol(
         }
     }
     action_sequence.append(stir_action)
-    debug_print("✅ 搅拌动作已添加 🌪️✨")
-    
-    # 显示时间优化信息
+
+    # 时间优化信息
     if original_stir_time != parsed_time or original_settling_time != parsed_settling_time:
-        debug_print(f"  🎭 模拟优化说明:")
-        debug_print(f"    搅拌时间: {original_stir_time/60:.1f}分钟 → {parsed_time/60:.1f}分钟")
-        debug_print(f"    沉降时间: {original_settling_time/60:.1f}分钟 → {parsed_settling_time/60:.1f}分钟")
-    
-    # 🎊 总结
-    debug_print("🎊" * 20)
-    debug_print(f"🎉 搅拌协议生成完成! ✨")
-    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
-    debug_print(f"🥽 搅拌容器: {vessel_display}")
-    debug_print(f"🌪️ 搅拌参数: {stir_speed} RPM, {parsed_time}s, 沉降 {parsed_settling_time}s")
-    debug_print(f"⏱️ 预计总时间: {(parsed_time + parsed_settling_time)/60:.1f} 分钟 ⌛")
-    debug_print("🎊" * 20)
+        debug_print(f"模拟优化: 搅拌 {original_stir_time/60:.1f}min→{parsed_time/60:.1f}min, "
+                    f"沉降 {original_settling_time/60:.1f}min→{parsed_settling_time/60:.1f}min")
+
+    debug_print(f"搅拌协议生成完成: {vessel_display}, {stir_speed}RPM, "
+                f"{parsed_time}s, 沉降{parsed_settling_time}s, 总{(parsed_time + parsed_settling_time)/60:.1f}min")
     
     return action_sequence
 
@@ -272,16 +154,13 @@ def generate_start_stir_protocol(
 ) -> List[Dict[str, Any]]:
     """生成开始搅拌操作的协议序列 - 修复vessel参数传递"""
     
-    # 🔧 核心修改：正确处理vessel参数
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-    
-    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
+
+    # 确保vessel_resource是完整的Resource对象
     if isinstance(vessel, dict):
-        vessel_resource = vessel  # 已经是完整的Resource字典
-        debug_print(f"✅ 使用传入的vessel Resource对象")
+        vessel_resource = vessel
     else:
-        # 如果只是字符串，构建一个基本的Resource对象
         vessel_resource = {
             "id": vessel,
             "name": "",
@@ -297,39 +176,29 @@ def generate_start_stir_protocol(
             "sample_id": "",
             "type": ""
         }
-        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
-    
-    debug_print("🔄 开始生成启动搅拌协议（修复vessel参数）✨")
-    debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
-    debug_print(f"🌪️ speed: {stir_speed} RPM")
-    debug_print(f"🎯 purpose: {purpose}")
-    
+
     # 基础验证
     if not vessel_id or vessel_id not in G.nodes():
-        debug_print("❌ 容器验证失败!")
         raise ValueError("vessel 参数无效")
-    
+
     # 参数修正
     if stir_speed < 10.0 or stir_speed > 1500.0:
-        debug_print(f"⚠️ 搅拌速度修正: {stir_speed} → 300 RPM 🌪️")
         stir_speed = 300.0
-    
+
     # 查找设备
     stirrer_id = find_connected_stirrer(G, vessel_id)
-    
-    # 🔧 关键修复：传递vessel_id字符串
+
     action_sequence = [{
         "device_id": stirrer_id,
         "action_name": "start_stir",
         "action_kwargs": {
-            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},
             "stir_speed": stir_speed,
             "purpose": purpose or f"启动搅拌 {stir_speed} RPM"
         }
     }]
-    
-    debug_print(f"✅ 启动搅拌协议生成完成 🎯")
+
+    debug_print(f"启动搅拌协议: {vessel_display}, {stir_speed}RPM, device={stirrer_id}")
     return action_sequence
 
 def generate_stop_stir_protocol(
@@ -339,16 +208,13 @@ def generate_stop_stir_protocol(
 ) -> List[Dict[str, Any]]:
     """生成停止搅拌操作的协议序列 - 修复vessel参数传递"""
     
-    # 🔧 核心修改：正确处理vessel参数
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-    
-    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
+
+    # 确保vessel_resource是完整的Resource对象
     if isinstance(vessel, dict):
-        vessel_resource = vessel  # 已经是完整的Resource字典
-        debug_print(f"✅ 使用传入的vessel Resource对象")
+        vessel_resource = vessel
     else:
-        # 如果只是字符串，构建一个基本的Resource对象
         vessel_resource = {
             "id": vessel,
             "name": "",
@@ -364,115 +230,103 @@ def generate_stop_stir_protocol(
             "sample_id": "",
             "type": ""
         }
-        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
-    
-    debug_print("🛑 开始生成停止搅拌协议（修复vessel参数）✨")
-    debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
-    
+
     # 基础验证
     if not vessel_id or vessel_id not in G.nodes():
-        debug_print("❌ 容器验证失败!")
         raise ValueError("vessel 参数无效")
-    
+
     # 查找设备
     stirrer_id = find_connected_stirrer(G, vessel_id)
-    
-    # 🔧 关键修复：传递vessel_id字符串
+
     action_sequence = [{
         "device_id": stirrer_id,
         "action_name": "stop_stir",
         "action_kwargs": {
-            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
+            "vessel": {"id": vessel_id},
         }
     }]
-    
-    debug_print(f"✅ 停止搅拌协议生成完成 🎯")
+
+    debug_print(f"停止搅拌协议: {vessel_display}, device={stirrer_id}")
     return action_sequence
 
-# 🔧 新增：便捷函数
+# 便捷函数
 def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict], 
                 speed: float = 300.0) -> List[Dict[str, Any]]:
     """短时间搅拌（30秒）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"⚡ 短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
+    debug_print(f"短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
     return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
 
 def stir_slowly(G: nx.DiGraph, vessel: Union[str, dict], 
                time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """慢速搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🐌 慢速搅拌: {vessel_display} @ 150RPM")
+    debug_print(f"慢速搅拌: {vessel_display} @ 150RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=150.0)
 
 def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict], 
                    time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
     """剧烈搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"💨 剧烈搅拌: {vessel_display} @ 800RPM")
+    debug_print(f"剧烈搅拌: {vessel_display} @ 800RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
 
 def stir_for_reaction(G: nx.DiGraph, vessel: Union[str, dict], 
                      time: Union[str, float] = "1 h") -> List[Dict[str, Any]]:
     """反应搅拌（标准速度，长时间）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🧪 反应搅拌: {vessel_display} @ 400RPM")
+    debug_print(f"反应搅拌: {vessel_display} @ 400RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=400.0)
 
 def stir_for_dissolution(G: nx.DiGraph, vessel: Union[str, dict], 
                         time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
     """溶解搅拌（中等速度）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"💧 溶解搅拌: {vessel_display} @ 500RPM")
+    debug_print(f"溶解搅拌: {vessel_display} @ 500RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=500.0)
 
 def stir_gently(G: nx.DiGraph, vessel: Union[str, dict], 
                time: Union[str, float] = "30 min") -> List[Dict[str, Any]]:
     """温和搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🍃 温和搅拌: {vessel_display} @ 200RPM")
+    debug_print(f"温和搅拌: {vessel_display} @ 200RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=200.0)
 
 def stir_overnight(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
     """过夜搅拌（模拟时缩短为2小时）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🌙 过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
+    debug_print(f"过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
     return generate_stir_protocol(G, vessel, time="2 h", stir_speed=300.0)
 
 def start_continuous_stirring(G: nx.DiGraph, vessel: Union[str, dict], 
                              speed: float = 300.0, purpose: str = "continuous stirring") -> List[Dict[str, Any]]:
     """开始连续搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🔄 开始连续搅拌: {vessel_display} @ {speed}RPM")
+    debug_print(f"开始连续搅拌: {vessel_display} @ {speed}RPM")
     return generate_start_stir_protocol(G, vessel, stir_speed=speed, purpose=purpose)
 
 def stop_all_stirring(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
     """停止所有搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🛑 停止搅拌: {vessel_display}")
+    debug_print(f"停止搅拌: {vessel_display}")
     return generate_stop_stir_protocol(G, vessel)
 
 # 测试函数
 def test_stir_protocol():
     """测试搅拌协议"""
-    debug_print("🧪 === STIR PROTOCOL 测试 === ✨")
-    
-    # 测试vessel参数处理
-    debug_print("🔧 测试vessel参数处理...")
-    
     # 测试字典格式
     vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
     vessel_id = extract_vessel_id(vessel_dict)
     vessel_display = get_vessel_display_info(vessel_dict)
-    debug_print(f"  字典格式: {vessel_dict} → ID: {vessel_id}, 显示: {vessel_display}")
-    
+    debug_print(f"字典格式: {vessel_dict} -> ID: {vessel_id}, 显示: {vessel_display}")
+
     # 测试字符串格式
     vessel_str = "flask_2"
     vessel_id = extract_vessel_id(vessel_str)
     vessel_display = get_vessel_display_info(vessel_str)
-    debug_print(f"  字符串格式: {vessel_str} → ID: {vessel_id}, 显示: {vessel_display}")
-    
-    debug_print("✅ 测试完成 🎉")
+    debug_print(f"字符串格式: {vessel_str} -> ID: {vessel_id}, 显示: {vessel_display}")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
     test_stir_protocol()

unilabos/compile/utils/logger_util.py

@@ -1,36 +1,57 @@
-# 🆕 创建进度日志动作
+"""编译器共享日志工具"""
+
+import inspect
 import logging
 from typing import Dict, Any
 
-logger = logging.getLogger(__name__)
+# 模块名到前缀的映射
+_MODULE_PREFIXES = {
+    "add_protocol": "[ADD]",
+    "adjustph_protocol": "[ADJUSTPH]",
+    "clean_vessel_protocol": "[CLEAN_VESSEL]",
+    "dissolve_protocol": "[DISSOLVE]",
+    "dry_protocol": "[DRY]",
+    "evacuateandrefill_protocol": "[EVACUATE]",
+    "evaporate_protocol": "[EVAPORATE]",
+    "filter_protocol": "[FILTER]",
+    "heatchill_protocol": "[HEATCHILL]",
+    "hydrogenate_protocol": "[HYDROGENATE]",
+    "pump_protocol": "[PUMP]",
+    "recrystallize_protocol": "[RECRYSTALLIZE]",
+    "reset_handling_protocol": "[RESET]",
+    "run_column_protocol": "[RUN_COLUMN]",
+    "separate_protocol": "[SEPARATE]",
+    "stir_protocol": "[STIR]",
+    "wash_solid_protocol": "[WASH_SOLID]",
+    "vessel_parser": "[VESSEL_PARSER]",
+    "unit_parser": "[UNIT_PARSER]",
+    "resource_helper": "[RESOURCE_HELPER]",
+}
 
-def debug_print(message, prefix="[UNIT_PARSER]"):
-    """调试输出"""
+
+def debug_print(message, prefix=None):
+    """调试输出 — 自动根据调用模块设置前缀"""
+    if prefix is None:
+        frame = inspect.currentframe()
+        caller = frame.f_back if frame else None
+        module_name = ""
+        if caller:
+            module_name = caller.f_globals.get("__name__", "")
+            # 取最后一段作为模块短名
+            module_name = module_name.rsplit(".", 1)[-1]
+        prefix = _MODULE_PREFIXES.get(module_name, f"[{module_name.upper()}]")
+    logger = logging.getLogger("unilabos.compile")
     logger.info(f"{prefix} {message}")
 
 
 def action_log(message: str, emoji: str = "📝", prefix="[HIGH-LEVEL OPERATION]") -> Dict[str, Any]:
-    """创建一个动作日志 - 支持中文和emoji"""
-    try:
-        full_message = f"{prefix} {emoji} {message}"
-
-        return {
-            "action_name": "wait",
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": full_message,
-                "progress_message": full_message
-            }
+    """创建一个动作日志"""
+    full_message = f"{prefix} {emoji} {message}"
+    return {
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 0.1,
+            "log_message": full_message,
+            "progress_message": full_message
         }
-    except Exception as e:
-        # 如果emoji有问题，使用纯文本
-        safe_message = f"{prefix} {message}"
-
-        return {
-            "action_name": "wait",
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": safe_message,
-                "progress_message": safe_message
-            }
-        }
+    }

unilabos/compile/utils/resource_helper.py

@@ -0,0 +1,172 @@
+"""
+资源实例兼容层
+
+提供 ensure_resource_instance() 将 dict / ResourceDictInstance 统一转为
+ResourceDictInstance，使编译器可以渐进式迁移到强类型资源。
+"""
+
+from typing import Any, Dict, Optional, Union
+
+from unilabos.resources.resource_tracker import ResourceDictInstance
+
+
+def ensure_resource_instance(
+    resource: Union[Dict[str, Any], ResourceDictInstance, None],
+) -> Optional[ResourceDictInstance]:
+    """将 dict 或 ResourceDictInstance 统一转为 ResourceDictInstance
+
+    编译器入口统一调用此函数，即可同时兼容旧 dict 传参和新 ResourceDictInstance 传参。
+
+    Args:
+        resource: 资源数据，可以是 plain dict、ResourceDictInstance 或 None
+
+    Returns:
+        ResourceDictInstance 或 None（当输入为 None 时）
+    """
+    if resource is None:
+        return None
+    if isinstance(resource, ResourceDictInstance):
+        return resource
+    if isinstance(resource, dict):
+        return ResourceDictInstance.get_resource_instance_from_dict(resource)
+    raise TypeError(f"不支持的资源类型: {type(resource)}, 期望 dict 或 ResourceDictInstance")
+
+
+def resource_to_dict(resource: Union[Dict[str, Any], ResourceDictInstance]) -> Dict[str, Any]:
+    """将 ResourceDictInstance 或 dict 统一转为 plain dict
+
+    用于需要 dict 操作的场景（如 children dict 操作）。
+
+    Args:
+        resource: ResourceDictInstance 或 dict
+
+    Returns:
+        plain dict
+    """
+    if isinstance(resource, dict):
+        return resource
+    if isinstance(resource, ResourceDictInstance):
+        return resource.get_plr_nested_dict()
+    raise TypeError(f"不支持的资源类型: {type(resource)}")
+
+
+def get_resource_id(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> str:
+    """从资源对象中提取 ID
+
+    Args:
+        resource: 字符串 ID、dict 或 ResourceDictInstance
+
+    Returns:
+        资源 ID 字符串
+    """
+    if isinstance(resource, str):
+        return resource
+    if isinstance(resource, ResourceDictInstance):
+        return resource.res_content.id
+    if isinstance(resource, dict):
+        if "id" in resource:
+            return resource["id"]
+        # 兼容 {station_id: {...}} 格式
+        first_val = next(iter(resource.values()), {})
+        if isinstance(first_val, dict):
+            return first_val.get("id", "")
+        return ""
+    raise TypeError(f"不支持的资源类型: {type(resource)}")
+
+
+def get_resource_data(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> Dict[str, Any]:
+    """从资源对象中提取 data 字段
+
+    Args:
+        resource: 字符串、dict 或 ResourceDictInstance
+
+    Returns:
+        data 字典
+    """
+    if isinstance(resource, str):
+        return {}
+    if isinstance(resource, ResourceDictInstance):
+        return dict(resource.res_content.data)
+    if isinstance(resource, dict):
+        return resource.get("data", {})
+    return {}
+
+
+def get_resource_display_info(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> str:
+    """获取资源的显示信息（用于日志）
+
+    Args:
+        resource: 字符串 ID、dict 或 ResourceDictInstance
+
+    Returns:
+        显示信息字符串
+    """
+    if isinstance(resource, str):
+        return resource
+    if isinstance(resource, ResourceDictInstance):
+        res = resource.res_content
+        return f"{res.id} ({res.name})" if res.name and res.name != res.id else res.id
+    if isinstance(resource, dict):
+        res_id = resource.get("id", "unknown")
+        res_name = resource.get("name", "")
+        if res_name and res_name != res_id:
+            return f"{res_id} ({res_name})"
+        return res_id
+    return str(resource)
+
+
+def get_resource_liquid_volume(resource: Union[Dict[str, Any], ResourceDictInstance]) -> float:
+    """从资源中获取液体体积
+
+    Args:
+        resource: dict 或 ResourceDictInstance
+
+    Returns:
+        液体总体积 (mL)
+    """
+    data = get_resource_data(resource)
+    liquids = data.get("liquid", [])
+    if isinstance(liquids, list):
+        return sum(l.get("volume", 0.0) for l in liquids if isinstance(l, dict))
+    return 0.0
+
+
+def update_vessel_volume(vessel, G, new_volume: float, description: str = "") -> None:
+    """
+    更新容器体积（同时更新vessel字典和图节点）
+
+    Args:
+        vessel: 容器字典或 ResourceDictInstance
+        G: 网络图 (nx.DiGraph)
+        new_volume: 新体积 (mL)
+        description: 更新描述（用于日志）
+    """
+    import logging
+    logger = logging.getLogger("unilabos.compile")
+
+    vessel_id = get_resource_id(vessel)
+
+    if description:
+        logger.info(f"[RESOURCE] 更新容器体积 - {description}")
+
+    # 更新 vessel 字典中的体积
+    if isinstance(vessel, dict):
+        if "data" not in vessel:
+            vessel["data"] = {}
+        lv = vessel["data"].get("liquid_volume")
+        if isinstance(lv, list) and len(lv) > 0:
+            vessel["data"]["liquid_volume"][0] = new_volume
+        else:
+            vessel["data"]["liquid_volume"] = new_volume
+
+    # 同时更新图中的容器数据
+    if vessel_id and vessel_id in G.nodes():
+        if "data" not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]["data"] = {}
+        node_lv = G.nodes[vessel_id]["data"].get("liquid_volume")
+        if isinstance(node_lv, list) and len(node_lv) > 0:
+            G.nodes[vessel_id]["data"]["liquid_volume"][0] = new_volume
+        else:
+            G.nodes[vessel_id]["data"]["liquid_volume"] = new_volume
+
+    logger.info(f"[RESOURCE] 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")

unilabos/compile/utils/unit_parser.py

@@ -184,6 +184,42 @@ def parse_time_input(time_input: Union[str, float]) -> float:
 
     return time_sec
 
+
+def parse_temperature_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
+    """
+    解析温度输入，支持字符串和数值
+
+    Args:
+        temp_input: 温度输入（如 "256 °C", "reflux", 45.0）
+        default_temp: 默认温度
+
+    Returns:
+        float: 温度（°C）
+    """
+    if not temp_input:
+        return default_temp
+
+    if isinstance(temp_input, (int, float)):
+        return float(temp_input)
+
+    temp_str = str(temp_input).lower().strip()
+
+    # 特殊温度关键词
+    special_temps = {
+        "room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
+        "boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0,
+    }
+    if temp_str in special_temps:
+        return special_temps[temp_str]
+
+    # 正则解析（如 "256 °C", "45°C", "45"）
+    match = re.search(r'(\d+(?:\.\d+)?)\s*°?[cf]?', temp_str)
+    if match:
+        return float(match.group(1))
+
+    debug_print(f"无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
+    return default_temp
+
 # 测试函数
 def test_unit_parser():
     """测试单位解析功能"""

unilabos/compile/utils/vessel_parser.py

@@ -1,27 +1,23 @@
 import networkx as nx
 
 from .logger_util import debug_print
+from .resource_helper import get_resource_id, get_resource_data
 
 
 def get_vessel(vessel):
     """
     统一处理vessel参数，返回vessel_id和vessel_data。
+    支持 dict、str、ResourceDictInstance。
 
     Args:
-        vessel: 可以是一个字典或字符串，表示vessel的ID或数据。
+        vessel: 可以是一个字典、字符串或 ResourceDictInstance，表示vessel的ID或数据。
 
     Returns:
         tuple: 包含vessel_id和vessel_data。
     """
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = {}
+    # 统一使用 resource_helper 处理
+    vessel_id = get_resource_id(vessel)
+    vessel_data = get_resource_data(vessel)
     return vessel_id, vessel_data
 
 
@@ -278,4 +274,31 @@ def find_solid_dispenser(G: nx.DiGraph) -> str:
             return node
 
     debug_print(f"❌ 未找到固体加样器")
-    return ""
+    return ""
+
+
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """查找与指定容器相连的加热/冷却设备"""
+    heatchill_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        node_name = node.lower()
+        if ('heatchill' in node_class.lower() or 'virtual_heatchill' in node_class
+                or 'heater' in node_name or 'heat' in node_name):
+            heatchill_nodes.append(node)
+
+    # 检查连接
+    if vessel and heatchill_nodes:
+        for hc in heatchill_nodes:
+            if G.has_edge(hc, vessel) or G.has_edge(vessel, hc):
+                debug_print(f"加热设备 '{hc}' 与容器 '{vessel}' 相连")
+                return hc
+
+    # 使用第一个可用设备
+    if heatchill_nodes:
+        debug_print(f"使用第一个加热设备: {heatchill_nodes[0]}")
+        return heatchill_nodes[0]
+
+    debug_print("未找到加热设备，使用默认设备")
+    return "heatchill_1"

unilabos/compile/wash_solid_protocol.py

@@ -4,199 +4,55 @@ import logging
 import re
 
 from .utils.unit_parser import parse_time_input, parse_volume_input
+from .utils.resource_helper import get_resource_id, get_resource_display_info, get_resource_liquid_volume, update_vessel_volume
+from .utils.logger_util import debug_print
 
 logger = logging.getLogger(__name__)
 
-def debug_print(message):
-    """调试输出"""
-    logger.info(f"[WASH_SOLID] {message}")
-
 
 def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
-    """查找溶剂源（精简版）"""
-    debug_print(f"🔍 查找溶剂源: {solvent}")
-    
-    # 简化搜索列表
+    """查找溶剂源"""
     search_patterns = [
         f"flask_{solvent}", f"bottle_{solvent}", f"reagent_{solvent}",
         "liquid_reagent_bottle_1", "flask_1", "solvent_bottle"
     ]
-    
+
     for pattern in search_patterns:
         if pattern in G.nodes():
-            debug_print(f"🎉 找到溶剂源: {pattern}")
+            debug_print(f"找到溶剂源: {pattern}")
             return pattern
-    
-    debug_print(f"⚠️ 使用默认溶剂源: flask_{solvent}")
+
+    debug_print(f"使用默认溶剂源: flask_{solvent}")
     return f"flask_{solvent}"
 
 def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
-    """查找滤液容器（精简版）"""
-    debug_print(f"🔍 查找滤液容器: {filtrate_vessel}")
-    
-    # 如果指定了且存在，直接使用
+    """查找滤液容器"""
     if filtrate_vessel and filtrate_vessel in G.nodes():
-        debug_print(f"✅ 使用指定容器: {filtrate_vessel}")
         return filtrate_vessel
-    
-    # 简化搜索列表
+
     default_vessels = ["waste_workup", "filtrate_vessel", "flask_1", "collection_bottle_1"]
-    
+
     for vessel in default_vessels:
         if vessel in G.nodes():
-            debug_print(f"🎉 找到滤液容器: {vessel}")
+            debug_print(f"找到滤液容器: {vessel}")
             return vessel
-    
-    debug_print(f"⚠️ 使用默认滤液容器: waste_workup")
+
     return "waste_workup"
 
-def extract_vessel_id(vessel: Union[str, dict]) -> str:
-    """
-    从vessel参数中提取vessel_id
-    
-    Args:
-        vessel: vessel字典或vessel_id字符串
-        
-    Returns:
-        str: vessel_id
-    """
-    if isinstance(vessel, dict):
-        vessel_id = list(vessel.values())[0].get("id", "")
-        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
-        return vessel_id
-    elif isinstance(vessel, str):
-        debug_print(f"🔧 vessel参数为字符串: {vessel}")
-        return vessel
-    else:
-        debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
-        return ""
+def extract_vessel_id(vessel) -> str:
+    """从vessel参数中提取vessel_id，兼容 str / dict / ResourceDictInstance"""
+    return get_resource_id(vessel)
 
-def get_vessel_display_info(vessel: Union[str, dict]) -> str:
-    """
-    获取容器的显示信息（用于日志）
-    
-    Args:
-        vessel: vessel字典或vessel_id字符串
-        
-    Returns:
-        str: 显示信息
-    """
-    if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "unknown")
-        vessel_name = vessel.get("name", "")
-        if vessel_name:
-            return f"{vessel_id} ({vessel_name})"
-        else:
-            return vessel_id
-    else:
-        return str(vessel)
-
-def get_vessel_liquid_volume(vessel: dict) -> float:
-    """
-    获取容器中的液体体积 - 支持vessel字典
-    
-    Args:
-        vessel: 容器字典
-        
-    Returns:
-        float: 液体体积（mL）
-    """
-    if not vessel or "data" not in vessel:
-        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
-        return 0.0
-    
-    vessel_data = vessel["data"]
-    vessel_id = vessel.get("id", "unknown")
-    
-    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
-    
-    # 检查liquid_volume字段
-    if "liquid_volume" in vessel_data:
-        liquid_volume = vessel_data["liquid_volume"]
-        
-        # 处理列表格式
-        if isinstance(liquid_volume, list):
-            if len(liquid_volume) > 0:
-                volume = liquid_volume[0]
-                if isinstance(volume, (int, float)):
-                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
-                    return float(volume)
-        
-        # 处理直接数值格式
-        elif isinstance(liquid_volume, (int, float)):
-            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
-            return float(liquid_volume)
-    
-    # 检查其他可能的体积字段
-    volume_keys = ['current_volume', 'total_volume', 'volume']
-    for key in volume_keys:
-        if key in vessel_data:
-            try:
-                volume = float(vessel_data[key])
-                if volume > 0:
-                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
-                    return volume
-            except (ValueError, TypeError):
-                continue
-    
-    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 0.0mL")
-    return 0.0
-
-def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
-    """
-    更新容器体积（同时更新vessel字典和图节点）
-    
-    Args:
-        vessel: 容器字典
-        G: 网络图
-        new_volume: 新体积
-        description: 更新描述
-    """
-    vessel_id = vessel.get("id", "unknown")
-    
-    if description:
-        debug_print(f"🔧 更新容器体积 - {description}")
-    
-    # 更新vessel字典中的体积
-    if "data" in vessel:
-        if "liquid_volume" in vessel["data"]:
-            current_volume = vessel["data"]["liquid_volume"]
-            if isinstance(current_volume, list):
-                if len(current_volume) > 0:
-                    vessel["data"]["liquid_volume"][0] = new_volume
-                else:
-                    vessel["data"]["liquid_volume"] = [new_volume]
-            else:
-                vessel["data"]["liquid_volume"] = new_volume
-        else:
-            vessel["data"]["liquid_volume"] = new_volume
-    else:
-        vessel["data"] = {"liquid_volume": new_volume}
-    
-    # 同时更新图中的容器数据
-    if vessel_id in G.nodes():
-        if 'data' not in G.nodes[vessel_id]:
-            G.nodes[vessel_id]['data'] = {}
-        
-        vessel_node_data = G.nodes[vessel_id]['data']
-        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-        
-        if isinstance(current_node_volume, list):
-            if len(current_node_volume) > 0:
-                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
-            else:
-                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
-        else:
-            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-    
-    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
+def get_vessel_display_info(vessel) -> str:
+    """获取容器的显示信息（用于日志），兼容 str / dict / ResourceDictInstance"""
+    return get_resource_display_info(vessel)
 
 def generate_wash_solid_protocol(
     G: nx.DiGraph,
-    vessel: Union[str, dict],  # 🔧 修改：支持vessel字典
+    vessel: Union[str, dict],
     solvent: str,
     volume: Union[float, str] = "50",
-    filtrate_vessel: Union[str, dict] = "",  # 🔧 修改：支持vessel字典
+    filtrate_vessel: Union[str, dict] = "",
     temp: float = 25.0,
     stir: bool = False,
     stir_speed: float = 0.0,
@@ -210,7 +66,7 @@ def generate_wash_solid_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成固体清洗协议 - 支持vessel字典和体积运算
-    
+
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         vessel: 清洗容器字典（从XDL传入）或容器ID字符串
@@ -227,106 +83,78 @@ def generate_wash_solid_protocol(
         mass: 固体质量（用于计算溶剂用量）
         event: 事件描述
         **kwargs: 其他可选参数
-    
+
     Returns:
         List[Dict[str, Any]]: 固体清洗操作的动作序列
     """
-    
-    # 🔧 核心修改：从vessel参数中提取vessel_id
+
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-    
-    # 🔧 处理filtrate_vessel参数
+
     filtrate_vessel_id = extract_vessel_id(filtrate_vessel) if filtrate_vessel else ""
-    
-    debug_print("🧼" * 20)
-    debug_print("🚀 开始生成固体清洗协议（支持vessel字典和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel_display} (ID: {vessel_id})")
-    debug_print(f"  🧪 solvent: {solvent}")
-    debug_print(f"  💧 volume: {volume}")
-    debug_print(f"  🗑️ filtrate_vessel: {filtrate_vessel_id}")
-    debug_print(f"  ⏰ time: {time}")
-    debug_print(f"  🔄 repeats: {repeats}")
-    debug_print("🧼" * 20)
-    
-    # 🔧 新增：记录清洗前的容器状态
-    debug_print("🔍 记录清洗前容器状态...")
+
+    debug_print(f"开始生成固体清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}, repeats={repeats}")
+
+    # 记录清洗前的容器状态
     if isinstance(vessel, dict):
-        original_volume = get_vessel_liquid_volume(vessel)
-        debug_print(f"📊 清洗前液体体积: {original_volume:.2f}mL")
+        original_volume = get_resource_liquid_volume(vessel)
     else:
         original_volume = 0.0
-        debug_print(f"📊 vessel为字符串格式，无法获取体积信息")
-    
-    # 📋 快速验证
-    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
-        debug_print("❌ 容器验证失败! 😱")
+
+    # 快速验证
+    if not vessel_id or vessel_id not in G.nodes():
         raise ValueError("vessel 参数无效")
-    
+
     if not solvent:
-        debug_print("❌ 溶剂不能为空! 😱")
         raise ValueError("solvent 参数不能为空")
-    
-    debug_print("✅ 基础验证通过 🎯")
-    
-    # 🔄 参数解析
-    debug_print("📍 步骤1: 参数解析... ⚡")
+
+    # 参数解析
     final_volume = parse_volume_input(volume, volume_spec, mass)
     final_time = parse_time_input(time)
-    
-    # 重复次数处理（简化）
+
+    # 重复次数处理
     if repeats_spec:
         spec_map = {'few': 2, 'several': 3, 'many': 4, 'thorough': 5}
         final_repeats = next((v for k, v in spec_map.items() if k in repeats_spec.lower()), repeats)
     else:
-        final_repeats = max(1, min(repeats, 5))  # 限制1-5次
-    
-    # 🕐 模拟时间优化
-    debug_print("  ⏱️ 模拟时间优化...")
+        final_repeats = max(1, min(repeats, 5))
+
+    # 模拟时间优化
     original_time = final_time
     if final_time > 60.0:
-        final_time = 60.0  # 限制最长60秒
-        debug_print(f"  🎮 时间优化: {original_time}s → {final_time}s ⚡")
-    
+        final_time = 60.0
+        debug_print(f"时间优化: {original_time}s -> {final_time}s")
+
     # 参数修正
-    temp = max(25.0, min(temp, 80.0))  # 温度范围25-80°C
-    stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0  # 速度范围0-300
-    
-    debug_print(f"🎯 最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
-    
-    # 🔍 查找设备
-    debug_print("📍 步骤2: 查找设备... 🔍")
+    temp = max(25.0, min(temp, 80.0))
+    stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0
+
+    debug_print(f"最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
+
+    # 查找设备
     try:
         solvent_source = find_solvent_source(G, solvent)
         actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel_id)
-        debug_print(f"🎉 设备配置完成 ✨")
-        debug_print(f"  🧪 溶剂源: {solvent_source}")
-        debug_print(f"  🗑️ 滤液容器: {actual_filtrate_vessel}")
     except Exception as e:
-        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"设备查找失败: {str(e)}")
-    
-    # 🚀 生成动作序列
-    debug_print("📍 步骤3: 生成清洗动作... 🧼")
+
+    # 生成动作序列
     action_sequence = []
-    
-    # 🔧 新增：体积变化跟踪变量
+
     current_volume = original_volume
     total_solvent_used = 0.0
-    
+
     for cycle in range(final_repeats):
-        debug_print(f"  🔄 第{cycle+1}/{final_repeats}次清洗...")
-        
+        debug_print(f"第{cycle+1}/{final_repeats}次清洗")
+
         # 1. 转移溶剂
         try:
             from .pump_protocol import generate_pump_protocol_with_rinsing
-            
-            debug_print(f"    💧 添加溶剂: {final_volume}mL {solvent}")
+
             transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=solvent_source,
-                to_vessel=vessel_id,  # 🔧 使用 vessel_id
+                to_vessel=vessel_id,
                 volume=final_volume,
                 amount="",
                 time=0.0,
@@ -338,211 +166,160 @@ def generate_wash_solid_protocol(
                 flowrate=2.5,
                 transfer_flowrate=0.5
             )
-            
+
             if transfer_actions:
                 action_sequence.extend(transfer_actions)
-                debug_print(f"    ✅ 转移动作: {len(transfer_actions)}个 🚚")
-                
-                # 🔧 新增：更新体积 - 添加溶剂后
+
                 current_volume += final_volume
                 total_solvent_used += final_volume
-                
+
                 if isinstance(vessel, dict):
-                    update_vessel_volume(vessel, G, current_volume, 
+                    update_vessel_volume(vessel, G, current_volume,
                                        f"第{cycle+1}次清洗添加{final_volume}mL溶剂后")
-            
+
         except Exception as e:
-            debug_print(f"    ❌ 转移失败: {str(e)} 😞")
-        
+            debug_print(f"转移失败: {str(e)}")
+
         # 2. 搅拌（如果需要）
         if stir and final_time > 0:
-            debug_print(f"    🌪️ 搅拌: {final_time}s @ {stir_speed}RPM")
             stir_action = {
                 "device_id": "stirrer_1",
                 "action_name": "stir",
                 "action_kwargs": {
-                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                    "vessel": {"id": vessel_id},
                     "time": str(time),
                     "stir_time": final_time,
                     "stir_speed": stir_speed,
-                    "settling_time": 10.0  # 🕐 缩短沉降时间
+                    "settling_time": 10.0
                 }
             }
             action_sequence.append(stir_action)
-            debug_print(f"    ✅ 搅拌动作: {final_time}s, {stir_speed}RPM 🌪️")
-        
+
         # 3. 过滤
-        debug_print(f"    🌊 过滤到: {actual_filtrate_vessel}")
         filter_action = {
             "device_id": "filter_1",
             "action_name": "filter",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": {"id": vessel_id},
                 "filtrate_vessel": actual_filtrate_vessel,
                 "temp": temp,
                 "volume": final_volume
             }
         }
         action_sequence.append(filter_action)
-        debug_print(f"    ✅ 过滤动作: → {actual_filtrate_vessel} 🌊")
-        
-        # 🔧 新增：更新体积 - 过滤后（液体被滤除）
-        # 假设滤液完全被移除，固体残留在容器中
-        filtered_volume = current_volume * 0.9  # 假设90%的液体被过滤掉
+
+        # 更新体积 - 过滤后
+        filtered_volume = current_volume * 0.9
         current_volume = current_volume - filtered_volume
-        
+
         if isinstance(vessel, dict):
-            update_vessel_volume(vessel, G, current_volume, 
+            update_vessel_volume(vessel, G, current_volume,
                                f"第{cycle+1}次清洗过滤后")
-        
-        # 4. 等待（缩短时间）
-        wait_time = 5.0  # 🕐 缩短等待时间：10s → 5s
+
+        # 4. 等待
+        wait_time = 5.0
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {"time": wait_time}
         })
-        debug_print(f"    ✅ 等待: {wait_time}s ⏰")
-    
-    # 🔧 新增：清洗完成后的最终状态报告
+
+    # 最终状态
     if isinstance(vessel, dict):
-        final_volume_vessel = get_vessel_liquid_volume(vessel)
+        final_volume_vessel = get_resource_liquid_volume(vessel)
     else:
         final_volume_vessel = current_volume
-    
-    # 🎊 总结
-    debug_print("🧼" * 20)
-    debug_print(f"🎉 固体清洗协议生成完成! ✨")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)} 个")
-    debug_print(f"  🥽 清洗容器: {vessel_display}")
-    debug_print(f"  🧪 使用溶剂: {solvent}")
-    debug_print(f"  💧 单次体积: {final_volume}mL")
-    debug_print(f"  🔄 清洗次数: {final_repeats}次")
-    debug_print(f"  💧 总溶剂用量: {total_solvent_used:.2f}mL")
-    debug_print(f"📊 体积变化统计:")
-    debug_print(f"  - 清洗前体积: {original_volume:.2f}mL")
-    debug_print(f"  - 清洗后体积: {final_volume_vessel:.2f}mL")
-    debug_print(f"  - 溶剂总用量: {total_solvent_used:.2f}mL")
-    debug_print(f"⏱️ 预计总时间: {(final_time + 5) * final_repeats / 60:.1f} 分钟")
-    debug_print("🧼" * 20)
-    
+
+    debug_print(f"固体清洗协议生成完成: {len(action_sequence)} 个动作, {final_repeats}次清洗, 溶剂总用量={total_solvent_used:.2f}mL")
+
     return action_sequence
 
-# 🔧 新增：便捷函数
-def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict], 
-                   volume: Union[float, str] = "50", 
+# 便捷函数
+def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict],
+                   volume: Union[float, str] = "50",
                    repeats: int = 2) -> List[Dict[str, Any]]:
     """用水清洗固体"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"💧 水洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "water", volume=volume, repeats=repeats)
 
-def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict], 
-                     volume: Union[float, str] = "30", 
+def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict],
+                     volume: Union[float, str] = "30",
                      repeats: int = 1) -> List[Dict[str, Any]]:
     """用乙醇清洗固体"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🍺 乙醇洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "ethanol", volume=volume, repeats=repeats)
 
-def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict], 
-                     volume: Union[float, str] = "25", 
+def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict],
+                     volume: Union[float, str] = "25",
                      repeats: int = 1) -> List[Dict[str, Any]]:
     """用丙酮清洗固体"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"💨 丙酮洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "acetone", volume=volume, repeats=repeats)
 
-def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict], 
-                   volume: Union[float, str] = "40", 
+def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict],
+                   volume: Union[float, str] = "40",
                    repeats: int = 2) -> List[Dict[str, Any]]:
     """用乙醚清洗固体"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🌬️ 乙醚洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "diethyl_ether", volume=volume, repeats=repeats)
 
-def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict], 
-                          solvent: str, volume: Union[float, str] = "30", 
+def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict],
+                          solvent: str, volume: Union[float, str] = "30",
                           repeats: int = 1) -> List[Dict[str, Any]]:
     """用冷溶剂清洗固体"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"❄️ 冷{solvent}洗固体: {vessel_display} ({repeats} 次)")
-    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
                                       temp=5.0, repeats=repeats)
 
-def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict], 
-                         solvent: str, volume: Union[float, str] = "50", 
+def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict],
+                         solvent: str, volume: Union[float, str] = "50",
                          repeats: int = 1) -> List[Dict[str, Any]]:
     """用热溶剂清洗固体"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🔥 热{solvent}洗固体: {vessel_display} ({repeats} 次)")
-    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
                                       temp=60.0, repeats=repeats)
 
-def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict], 
-                      solvent: str, volume: Union[float, str] = "50", 
-                      stir_time: Union[str, float] = "5 min", 
+def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict],
+                      solvent: str, volume: Union[float, str] = "50",
+                      stir_time: Union[str, float] = "5 min",
                       repeats: int = 1) -> List[Dict[str, Any]]:
     """带搅拌的溶剂清洗"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🌪️ 搅拌清洗: {vessel_display} with {solvent} ({repeats} 次)")
-    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
-                                      stir=True, stir_speed=200.0, 
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
+                                      stir=True, stir_speed=200.0,
                                       time=stir_time, repeats=repeats)
 
-def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict], 
+def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict],
                  solvent: str, volume: Union[float, str] = "50") -> List[Dict[str, Any]]:
     """彻底清洗（多次重复）"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"🔄 彻底清洗: {vessel_display} with {solvent} (5 次)")
     return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=5)
 
-def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict], 
+def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict],
                solvent: str, volume: Union[float, str] = "20") -> List[Dict[str, Any]]:
     """快速冲洗（单次，小体积）"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"⚡ 快速冲洗: {vessel_display} with {solvent}")
     return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=1)
 
-def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict], 
+def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict],
                    solvents: list, volume: Union[float, str] = "40") -> List[Dict[str, Any]]:
     """连续多溶剂清洗"""
-    vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"📝 连续清洗: {vessel_display} with {' → '.join(solvents)}")
-    
     action_sequence = []
     for solvent in solvents:
-        wash_actions = generate_wash_solid_protocol(G, vessel, solvent, 
+        wash_actions = generate_wash_solid_protocol(G, vessel, solvent,
                                                    volume=volume, repeats=1)
         action_sequence.extend(wash_actions)
-    
+
     return action_sequence
 
 # 测试函数
 def test_wash_solid_protocol():
     """测试固体清洗协议"""
-    debug_print("🧪 === WASH SOLID PROTOCOL 测试 === ✨")
-    
-    # 测试vessel参数处理
-    debug_print("🔧 测试vessel参数处理...")
-    
-    # 测试字典格式
-    vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1", 
+    debug_print("=== WASH SOLID PROTOCOL 测试 ===")
+
+    vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1",
                   "data": {"liquid_volume": 25.0}}
     vessel_id = extract_vessel_id(vessel_dict)
     vessel_display = get_vessel_display_info(vessel_dict)
-    volume = get_vessel_liquid_volume(vessel_dict)
-    debug_print(f"  字典格式: {vessel_dict}")
-    debug_print(f"    → ID: {vessel_id}, 显示: {vessel_display}, 体积: {volume}mL")
-    
-    # 测试字符串格式
+    volume = get_resource_liquid_volume(vessel_dict)
+    debug_print(f"字典格式: ID={vessel_id}, 显示={vessel_display}, 体积={volume}mL")
+
     vessel_str = "filter_flask_2"
     vessel_id = extract_vessel_id(vessel_str)
     vessel_display = get_vessel_display_info(vessel_str)
-    debug_print(f"  字符串格式: {vessel_str}")
-    debug_print(f"    → ID: {vessel_id}, 显示: {vessel_display}")
-    
-    debug_print("✅ 测试完成 🎉")
+    debug_print(f"字符串格式: ID={vessel_id}, 显示={vessel_display}")
+
+    debug_print("测试完成")
 
 if __name__ == "__main__":
-    test_wash_solid_protocol()
+    test_wash_solid_protocol()

unilabos/config/config.py

@@ -24,6 +24,7 @@ class BasicConfig:
     port = 8002  # 本地HTTP服务
     check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
     test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
+    extra_resource = False  # 是否加载lab_开头的额外资源
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -40,7 +41,7 @@ class BasicConfig:
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
     max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
+    ping_interval = 20  # ping间隔（秒）
 
 
 # HTTP配置

unilabos/device_comms/universal_driver.py

@@ -1,4 +1,3 @@
-
 from abc import abstractmethod
 from functools import wraps
 import inspect

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -21,7 +21,7 @@ from pylabrobot.resources import (
     ResourceHolder,
     Lid,
     Trash,
-    Tip,
+    Tip, TubeRack,
 )
 from typing_extensions import TypedDict
 
@@ -696,10 +696,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
-        assert issubclass(plate.__class__, Plate), "plate must be a Plate"
-        plate: Plate = cast(Plate, cast(Resource, plate))
+        assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}"
+        plate: Union[Plate, TubeRack]
         # 根据 well_names 获取对应的 Well 对象
-        wells = [plate.get_well(name) for name in well_names]
+        if issubclass(plate.__class__, Plate):
+            wells = [plate.get_well(name) for name in well_names]
+        elif issubclass(plate.__class__, TubeRack):
+            wells = [plate.get_tube(name) for name in well_names]
         res_volumes = []
 
         # 如果 liquid_names 和 volumes 都为空，直接返回

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -55,6 +55,7 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
     TransferLiquidReturn,
 )
 from unilabos.registry.placeholder_type import ResourceSlot
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -90,20 +91,103 @@ class PRCXI9300Deck(Deck):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
-        super().__init__(name, size_x, size_y, size_z)
-        self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
-        self.slot_locations = [Coordinate(0, 0, 0)] * 16
+    # T1-T16 默认位置 (4列×4行)
+    _DEFAULT_SITE_POSITIONS = [
+        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),         # T1-T4
+        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),     # T5-T8
+        (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12
+        (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16
+    ]
+    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0}
+    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"]
+
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
+        super().__init__(size_x, size_y, size_z, name)
+        if sites is not None:
+            self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
+        else:
+            self.sites = []
+            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
+                self.sites.append({
+                    "label": f"T{i + 1}",
+                    "visible": True,
+                    "position": {"x": x, "y": y, "z": z},
+                    "size": dict(self._DEFAULT_SITE_SIZE),
+                    "content_type": list(self._DEFAULT_CONTENT_TYPE),
+                })
+        # _ordering: label -> None, 用于外部通过 list(keys()).index(site) 将 Tn 转换为 spot index
+        self._ordering = collections.OrderedDict(
+            (site["label"], None) for site in self.sites
+        )
+
+    def _get_site_location(self, idx: int) -> Coordinate:
+        pos = self.sites[idx]["position"]
+        return Coordinate(pos["x"], pos["y"], pos["z"])
+
+    def _get_site_resource(self, idx: int) -> Optional[Resource]:
+        site_loc = self._get_site_location(idx)
+        for child in self.children:
+            if child.location == site_loc:
+                return child
+        return None
+
+    def assign_child_resource(
+        self,
+        resource: Resource,
+        location: Optional[Coordinate] = None,
+        reassign: bool = True,
+        spot: Optional[int] = None,
+    ):
+        idx = spot
+        if spot is not None:
+            idx = spot
+        else:
+            for i, site in enumerate(self.sites):
+                site_loc = self._get_site_location(i)
+                if site.get("label") == resource.name:
+                    idx = i
+                    break
+                if location is not None and site_loc == location:
+                    idx = i
+                    break
+
+        if idx is None:
+            for i in range(len(self.sites)):
+                if self._get_site_resource(i) is None:
+                    idx = i
+                    break
+
+        if idx is None:
+            raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
+
+        if not reassign and self._get_site_resource(idx) is not None:
+            raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
+
+        loc = self._get_site_location(idx)
+        super().assign_child_resource(resource, location=loc, reassign=reassign)
 
     def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
-        if self.slots[slot - 1] is not None and not reassign:
-            raise ValueError(f"Spot {slot} is already occupied")
+        self.assign_child_resource(resource, spot=slot - 1, reassign=reassign)
 
-        self.slots[slot - 1] = resource
-        super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
+    def serialize(self) -> dict:
+        data = super().serialize()
+        sites_out = []
+        for i, site in enumerate(self.sites):
+            occupied = self._get_site_resource(i)
+            sites_out.append({
+                "label": site["label"],
+                "visible": site.get("visible", True),
+                "occupied_by": occupied.name if occupied is not None else None,
+                "position": site["position"],
+                "size": site["size"],
+                "content_type": site["content_type"],
+            })
+        data["sites"] = sites_out
+        return data
 
 
-class PRCXI9300Container(Plate):
+class PRCXI9300Container(Container):
     """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
@@ -116,11 +200,10 @@ class PRCXI9300Container(Plate):
         size_y: float,
         size_z: float,
         category: str,
-        ordering: collections.OrderedDict,
         model: Optional[str] = None,
         **kwargs,
     ):
-        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
+        super().__init__(name, size_x, size_y, size_z, category=category, model=model)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -248,14 +331,15 @@ class PRCXI9300TipRack(TipRack):
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
-            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
-            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值类型来决定如何处理：
+            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            first_val = next(iter(ordering.values()), None) if ordering else None
+            if not ordering or first_val is None or isinstance(first_val, str):
+                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
                 items = None
-                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -397,14 +481,15 @@ class PRCXI9300TubeRack(TubeRack):
             items_to_pass = ordered_items
             ordering_param = None
         elif ordering is not None:
-            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
-            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
-            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
-                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值类型来决定如何处理：
+            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
+            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
+            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
+            first_val = next(iter(ordering.values()), None) if ordering else None
+            if not ordering or first_val is None or isinstance(first_val, str):
+                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
                 items_to_pass = None
-                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -549,7 +634,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
     def __init__(
         self,
-        deck: Deck,
+        deck: PRCXI9300Deck,
         host: str,
         port: int,
         timeout: float,
@@ -563,16 +648,16 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         is_9320=False,
     ):
         tablets_info = []
-        count = 0
-        for child in deck.children:
-            if child.children:
-                if "Material" in child.children[0]._unilabos_state:
-                    number = int(child.name.replace("T", ""))
-                    tablets_info.append(
-                        WorkTablets(
-                            Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
-                        )
+        for site_id in range(len(deck.sites)):
+            child = deck._get_site_resource(site_id)
+            # 如果放其他类型的物料，是不可以的
+            if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
+                number = site_id + 1
+                tablets_info.append(
+                    WorkTablets(
+                        Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
                     )
+                )
         if is_9320:
             print("当前设备是9320")
         # 始终初始化 step_mode 属性

unilabos/devices/transport/agv_workstation.py

@@ -0,0 +1,127 @@
+"""
+AGV 通用转运工站 Driver
+
+继承 WorkstationBase，通过 WorkstationNodeCreator 自动获得 ROS2WorkstationNode 能力。
+Warehouse 作为 children 中的资源节点，由 attach_resource() 自动注册到 resource_tracker。
+deck=None，不使用 PLR Deck 抽象。
+"""
+
+from typing import Any, Dict, List, Optional
+
+from pylabrobot.resources import Deck
+
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+from unilabos.resources.warehouse import WareHouse
+from unilabos.utils import logger
+
+
+class AGVTransportStation(WorkstationBase):
+    """通用 AGV 转运工站
+
+    初始化链路（零框架改动）：
+        ROS2DeviceNode.__init__():
+          issubclass(AGVTransportStation, WorkstationBase) → True
+          → WorkstationNodeCreator.create_instance(data):
+              data["deck"] = None
+              → DeviceClassCreator.create_instance(data) → AGVTransportStation(deck=None, ...)
+              → attach_resource(): children 中 type="warehouse" → resource_tracker.add_resource(wh)
+          → ROS2WorkstationNode(protocol_type=[...], children=[nav, arm], ...)
+          → driver.post_init(ros_node):
+              self.carrier 从 resource_tracker 中获取 WareHouse
+    """
+
+    def __init__(
+        self,
+        deck: Optional[Deck] = None,
+        children: Optional[List[Any]] = None,
+        route_table: Optional[Dict[str, Dict[str, str]]] = None,
+        device_roles: Optional[Dict[str, str]] = None,
+        **kwargs,
+    ):
+        super().__init__(deck=None, **kwargs)
+        self.route_table: Dict[str, Dict[str, str]] = route_table or {}
+        self.device_roles: Dict[str, str] = device_roles or {}
+
+    # ============ 载具 (Warehouse) ============
+
+    @property
+    def carrier(self) -> Optional[WareHouse]:
+        """从 resource_tracker 中找到 AGV 载具 Warehouse"""
+        if not hasattr(self, "_ros_node"):
+            return None
+        for res in self._ros_node.resource_tracker.resources:
+            if isinstance(res, WareHouse):
+                return res
+        return None
+
+    @property
+    def capacity(self) -> int:
+        """AGV 载具总容量（slot 数）"""
+        wh = self.carrier
+        if wh is None:
+            return 0
+        return wh.num_items_x * wh.num_items_y * wh.num_items_z
+
+    @property
+    def free_slots(self) -> List[str]:
+        """返回当前空闲 slot 名称列表"""
+        wh = self.carrier
+        if wh is None:
+            return []
+        ordering = getattr(wh, "_ordering", {})
+        return [name for name, site in ordering.items() if site.resource is None]
+
+    @property
+    def occupied_slots(self) -> Dict[str, Any]:
+        """返回已占用的 slot → Resource 映射"""
+        wh = self.carrier
+        if wh is None:
+            return {}
+        ordering = getattr(wh, "_ordering", {})
+        return {name: site.resource for name, site in ordering.items() if site.resource is not None}
+
+    # ============ 路由查询 ============
+
+    def resolve_route(self, from_station: str, to_station: str) -> Dict[str, str]:
+        """查询路由表，返回导航和机械臂指令
+
+        Args:
+            from_station: 来源工站 ID
+            to_station: 目标工站 ID
+
+        Returns:
+            {"nav_command": "...", "arm_pick": "...", "arm_place": "..."}
+
+        Raises:
+            KeyError: 路由表中未找到对应路线
+        """
+        route_key = f"{from_station}->{to_station}"
+        if route_key not in self.route_table:
+            raise KeyError(f"路由表中未找到路线: {route_key}")
+        return self.route_table[route_key]
+
+    def get_device_id(self, role: str) -> str:
+        """获取子设备 ID
+
+        Args:
+            role: 设备角色，如 "navigator", "arm"
+
+        Returns:
+            设备 ID 字符串
+
+        Raises:
+            KeyError: 未配置该角色的设备
+        """
+        if role not in self.device_roles:
+            raise KeyError(f"未配置设备角色: {role}，当前已配置: {list(self.device_roles.keys())}")
+        return self.device_roles[role]
+
+    # ============ 生命周期 ============
+
+    def post_init(self, ros_node) -> None:
+        super().post_init(ros_node)
+        wh = self.carrier
+        if wh is not None:
+            logger.info(f"AGV {ros_node.device_id} 载具已就绪: {wh.name}, 容量={self.capacity}")
+        else:
+            logger.warning(f"AGV {ros_node.device_id} 未发现 Warehouse 载具资源")

unilabos/devices/virtual/virtual_sample_demo.py

@@ -0,0 +1,88 @@
+"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
+
+import asyncio
+import logging
+import random
+import time
+from typing import Any, Dict, List, Optional
+
+
+class VirtualSampleDemo:
+    """虚拟样品追踪演示设备，提供两种典型返回模式：
+    - measure_samples: 等长输入输出 (前端按 index 自动对齐)
+    - split_and_measure: 输出比输入长，附带 samples 列标注归属
+    """
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        if device_id is None and "id" in kwargs:
+            device_id = kwargs.pop("id")
+        if config is None and "config" in kwargs:
+            config = kwargs.pop("config")
+
+        self.device_id = device_id or "unknown_sample_demo"
+        self.config = config or {}
+        self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
+        self.data: Dict[str, Any] = {"status": "Idle"}
+
+    # ------------------------------------------------------------------
+    # Action 1: 等长输入输出，无 samples 列
+    # ------------------------------------------------------------------
+    async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
+        """模拟光度测量。absorbance = concentration * 0.05 + noise
+
+        入参和出参 list 长度相等，前端按 index 自动对齐。
+        """
+        self.logger.info(f"measure_samples: concentrations={concentrations}")
+        absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
+        return {"concentrations": concentrations, "absorbance": absorbance}
+
+    # ------------------------------------------------------------------
+    # Action 2: 输出比输入长，带 samples 列
+    # ------------------------------------------------------------------
+    async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
+        """将每个样品均分为 split_count 份后逐份测量。
+
+        返回的 list 长度 = len(volumes) * split_count，
+        附带 samples 列标注每行属于第几个输入样品 (0-based index)。
+        """
+        self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
+        out_volumes: List[float] = []
+        readings: List[float] = []
+        samples: List[int] = []
+
+        for idx, vol in enumerate(volumes):
+            split_vol = round(vol / split_count, 2)
+            for _ in range(split_count):
+                out_volumes.append(split_vol)
+                readings.append(round(random.uniform(0.1, 1.0), 4))
+                samples.append(idx)
+
+        return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
+
+    # ------------------------------------------------------------------
+    # Action 3: 入参和出参都带 samples 列（不等长）
+    # ------------------------------------------------------------------
+    async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
+        """对 split_and_measure 的输出做二次分析。
+
+        入参 readings/samples 长度相同但 > 原始样品数，
+        出参同样带 samples 列，长度与入参一致。
+        """
+        self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
+        scores: List[float] = []
+        passed: List[bool] = []
+        threshold = 0.4
+
+        for r in readings:
+            score = round(r * 100 + random.gauss(0, 2), 2)
+            scores.append(score)
+            passed.append(r >= threshold)
+
+        return {"scores": scores, "passed": passed, "unilabos_samples": samples}
+
+    # ------------------------------------------------------------------
+    # 状态属性
+    # ------------------------------------------------------------------
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "Idle")

unilabos/devices/virtual/workbench.py

@@ -1,15 +1,15 @@
 """
 Virtual Workbench Device - 模拟工作台设备
-包含：
+包含:
 - 1个机械臂 (每次操作3s, 独占锁)
 - 3个加热台 (每次加热10s, 可并行)
 
-工作流程：
-1. A1-A5 物料同时启动，竞争机械臂
+工作流程:
+1. A1-A5 物料同时启动, 竞争机械臂
 2. 机械臂将物料移动到空闲加热台
-3. 加热完成后，机械臂将物料移动到C1-C5
+3. 加热完成后, 机械臂将物料移动到C1-C5
 
-注意：调用来自线程池，使用 threading.Lock 进行同步
+注意: 调用来自线程池, 使用 threading.Lock 进行同步
 """
 
 import logging
@@ -21,9 +21,11 @@ from threading import Lock, RLock
 
 from typing_extensions import TypedDict
 
+from unilabos.registry.decorators import (
+    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
+)
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action, always_free
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
 
 
 # ============ TypedDict 返回类型定义 ============
@@ -57,6 +59,8 @@ class MoveToOutputResult(TypedDict):
     success: bool
     station_id: int
     material_id: str
+    output_position: str
+    message: str
     unilabos_samples: List[LabSample]
 
 
@@ -81,9 +85,9 @@ class HeatingStationState(Enum):
     """加热台状态枚举"""
 
     IDLE = "idle"  # 空闲
-    OCCUPIED = "occupied"  # 已放置物料，等待加热
+    OCCUPIED = "occupied"  # 已放置物料, 等待加热
     HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成，等待取走
+    COMPLETED = "completed"  # 加热完成, 等待取走
 
 
 class ArmState(Enum):
@@ -105,19 +109,24 @@ class HeatingStation:
     heating_progress: float = 0.0
 
 
+@device(
+    id="virtual_workbench",
+    category=["virtual_device"],
+    description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
+)
 class VirtualWorkbench:
     """
     Virtual Workbench Device - 虚拟工作台设备
 
     模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒，同一时间只能执行一个操作
-    - 加热台加热耗时10秒，3个加热台可并行工作
+    - 机械臂操作耗时3秒, 同一时间只能执行一个操作
+    - 加热台加热耗时10秒, 3个加热台可并行工作
 
     工作流:
-    1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
-    2. 获取机械臂后，查找空闲加热台
-    3. 机械臂将物料放入加热台，开始加热
-    4. 加热完成后，机械臂将物料移动到目标位置Cn
+    1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
+    2. 获取机械臂后, 查找空闲加热台
+    3. 机械臂将物料放入加热台, 开始加热
+    4. 加热完成后, 机械臂将物料移动到目标位置Cn
     """
 
     _ros_node: BaseROS2DeviceNode
@@ -145,19 +154,19 @@ class VirtualWorkbench:
         self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
         self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
 
-        # 机械臂状态和锁 (使用threading.Lock)
+        # 机械臂状态和锁
         self._arm_lock = Lock()
         self._arm_state = ArmState.IDLE
         self._arm_current_task: Optional[str] = None
 
-        # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
+        # 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)
         }
-        self._stations_lock = RLock()  # 可重入锁，保护加热台状态
+        self._stations_lock = RLock()
 
         # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
+        self._active_tasks: Dict[str, Dict[str, Any]] = {}
         self._tasks_lock = Lock()
 
         # 处理其他kwargs参数
@@ -183,7 +192,6 @@ class VirtualWorkbench:
         """初始化虚拟工作台"""
         self.logger.info(f"初始化虚拟工作台 {self.device_id}")
 
-        # 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
         with self._stations_lock:
             for station in self._heating_stations.values():
                 station.state = HeatingStationState.IDLE
@@ -191,7 +199,6 @@ class VirtualWorkbench:
                 station.material_number = None
                 station.heating_progress = 0.0
 
-        # 初始化状态
         self.data.update(
             {
                 "status": "Ready",
@@ -257,11 +264,7 @@ class VirtualWorkbench:
             self.data["message"] = message
 
     def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台
-
-        Returns:
-            空闲加热台ID，如果没有则返回None
-        """
+        """查找空闲的加热台"""
         with self._stations_lock:
             for station_id, station in self._heating_stations.items():
                 if station.state == HeatingStationState.IDLE:
@@ -269,23 +272,12 @@ class VirtualWorkbench:
         return None
 
     def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权（阻塞直到获取）
-
-        Args:
-            task_description: 任务描述，用于日志
-
-        Returns:
-            是否成功获取
-        """
+        """获取机械臂使用权(阻塞直到获取)"""
         self.logger.info(f"[{task_description}] 等待获取机械臂...")
-
-        # 阻塞等待获取锁
         self._arm_lock.acquire()
-
         self._arm_state = ArmState.BUSY
         self._arm_current_task = task_description
         self._update_data_status(f"机械臂执行: {task_description}")
-
         self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
         return True
 
@@ -298,6 +290,22 @@ class VirtualWorkbench:
         self._update_data_status(f"机械臂已释放 (完成: {task})")
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
+    @action(
+        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),
+        ],
+    )
     def prepare_materials(
         self,
         sample_uuids: SampleUUIDsType,
@@ -306,19 +314,14 @@ class VirtualWorkbench:
         """
         批量准备物料 - 虚拟起始节点
 
-        作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
-
-        Args:
-            count: 待生成的物料数量，默认5 (生成 A1-A5)
-
-        Returns:
-            PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
+        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。
         """
-        # 生成物料列表 A1 - A{count}
         materials = [i for i in range(1, count + 1)]
 
-        self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
+        self.logger.info(
+            f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
+        )
 
         return {
             "success": True,
@@ -329,9 +332,28 @@ class VirtualWorkbench:
             "material_4": materials[3] if len(materials) > 3 else 0,
             "material_5": materials[4] if len(materials) > 4 else 0,
             "message": f"已准备 {count} 个物料: A1-A{count}",
-            "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
+            "unilabos_samples": [
+                LabSample(
+                    sample_uuid=sample_uuid,
+                    oss_path="",
+                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
+                )
+                for sample_uuid, content in sample_uuids.items()
+            ],
         }
 
+    @action(
+        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),
+        ],
+    )
     def move_to_heating_station(
         self,
         sample_uuids: SampleUUIDsType,
@@ -340,20 +362,12 @@ 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 (1-5)
-
-        Returns:
-            MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
+        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
         """
-        # 根据物料编号生成物料ID
         material_id = f"A{material_number}"
         task_desc = f"移动{material_id}到加热台"
         self.logger.info(f"[任务] {task_desc} - 开始执行")
 
-        # 记录任务
         with self._tasks_lock:
             self._active_tasks[material_id] = {
                 "status": "waiting_for_arm",
@@ -361,33 +375,27 @@ class VirtualWorkbench:
             }
 
         try:
-            # 步骤1: 等待获取机械臂使用权(竞争)
             with self._tasks_lock:
                 self._active_tasks[material_id]["status"] = "waiting_for_arm"
             self._acquire_arm(task_desc)
 
-            # 步骤2: 查找空闲加热台
             with self._tasks_lock:
                 self._active_tasks[material_id]["status"] = "finding_station"
             station_id = None
 
-            # 循环等待直到找到空闲加热台
             while station_id is None:
                 station_id = self._find_available_heating_station()
                 if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
-                    # 释放机械臂，等待后重试
+                    self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
                     self._release_arm()
                     time.sleep(0.5)
                     self._acquire_arm(task_desc)
 
-            # 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
             with self._stations_lock:
                 self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
                 self._heating_stations[station_id].current_material = material_id
                 self._heating_stations[station_id].material_number = material_number
 
-            # 步骤4: 模拟机械臂移动操作 (3秒)
             with self._tasks_lock:
                 self._active_tasks[material_id]["status"] = "arm_moving"
                 self._active_tasks[material_id]["assigned_station"] = station_id
@@ -395,11 +403,11 @@ class VirtualWorkbench:
 
             time.sleep(self.ARM_OPERATION_TIME)
 
-            # 步骤5: 放入加热台完成
             self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
+            self.logger.info(
+                f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
+            )
 
-            # 释放机械臂
             self._release_arm()
 
             with self._tasks_lock:
@@ -412,8 +420,16 @@ class VirtualWorkbench:
                 "material_number": material_number,
                 "message": f"{material_id}已成功移动到加热台{station_id}",
                 "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         except Exception as e:
@@ -427,11 +443,33 @@ class VirtualWorkbench:
                 "material_number": material_number,
                 "message": f"移动失败: {str(e)}",
                 "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
-    @always_free
+    @action(
+        auto_prefix=True,
+        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),
+        ],
+    )
     def start_heating(
         self,
         sample_uuids: SampleUUIDsType,
@@ -440,13 +478,6 @@ class VirtualWorkbench:
     ) -> StartHeatingResult:
         """
         启动指定加热台的加热程序
-
-        Args:
-            station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
-            material_number: 物料编号，从 move_to_heating_station 的 handle 传入
-
-        Returns:
-            StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
         """
         self.logger.info(f"[加热台{station_id}] 开始加热")
 
@@ -458,8 +489,16 @@ class VirtualWorkbench:
                 "material_number": material_number,
                 "message": f"无效的加热台ID: {station_id}",
                 "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         with self._stations_lock:
@@ -473,8 +512,16 @@ class VirtualWorkbench:
                     "material_number": material_number,
                     "message": f"加热台{station_id}上没有物料",
                     "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
             if station.state == HeatingStationState.HEATING:
@@ -485,13 +532,20 @@ class VirtualWorkbench:
                     "material_number": material_number,
                     "message": f"加热台{station_id}已经在加热中",
                     "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
             material_id = station.current_material
 
-            # 开始加热
             station.state = HeatingStationState.HEATING
             station.heating_start_time = time.time()
             station.heating_progress = 0.0
@@ -502,7 +556,6 @@ class VirtualWorkbench:
 
         self._update_data_status(f"加热台{station_id}开始加热{material_id}")
 
-        # 打印当前所有正在加热的台位
         with self._stations_lock:
             heating_list = [
                 f"加热台{sid}:{s.current_material}"
@@ -511,7 +564,6 @@ class VirtualWorkbench:
             ]
         self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
 
-        # 模拟加热过程
         start_time = time.time()
         last_countdown_log = start_time
         while True:
@@ -524,7 +576,6 @@ class VirtualWorkbench:
 
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
-            # 每5秒打印一次倒计时
             if time.time() - last_countdown_log >= 5.0:
                 self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
                 last_countdown_log = time.time()
@@ -534,7 +585,6 @@ class VirtualWorkbench:
 
             time.sleep(1.0)
 
-        # 加热完成
         with self._stations_lock:
             self._heating_stations[station_id].state = HeatingStationState.COMPLETED
             self._heating_stations[station_id].heating_progress = 100.0
@@ -553,10 +603,28 @@ class VirtualWorkbench:
             "material_number": material_number,
             "message": f"加热台{station_id}加热完成",
             "unilabos_samples": [
-                LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                sample_uuid, content in sample_uuids.items()]
+                LabSample(
+                    sample_uuid=sample_uuid,
+                    oss_path="",
+                    extra=(
+                        {"material_uuid": content}
+                        if isinstance(content, str) else (content.serialize() if content else {})
+                    ),
+                )
+                for sample_uuid, content in sample_uuids.items()
+            ],
         }
 
+    @action(
+        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),
+        ],
+    )
     def move_to_output(
         self,
         sample_uuids: SampleUUIDsType,
@@ -565,15 +633,8 @@ 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 (1-3)，从 start_heating 的 handle 传入
-            material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
-
-        Returns:
-            MoveToOutputResult: 包含执行结果
         """
-        output_number = material_number  # 物料编号决定输出位置
+        output_number = material_number
 
         if station_id not in self._heating_stations:
             return {
@@ -583,8 +644,16 @@ class VirtualWorkbench:
                 "output_position": f"C{output_number}",
                 "message": f"无效的加热台ID: {station_id}",
                 "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         with self._stations_lock:
@@ -599,8 +668,16 @@ class VirtualWorkbench:
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}上没有物料",
                     "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
             if station.state != HeatingStationState.COMPLETED:
@@ -611,8 +688,16 @@ class VirtualWorkbench:
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
                     "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
+                        LabSample(
+                            sample_uuid=sample_uuid,
+                            oss_path="",
+                            extra=(
+                                {"material_uuid": content}
+                                if isinstance(content, str) else (content.serialize() if content else {})
+                            ),
+                        )
+                        for sample_uuid, content in sample_uuids.items()
+                    ],
                 }
 
         output_position = f"C{output_number}"
@@ -624,18 +709,17 @@ class VirtualWorkbench:
                 if material_id in self._active_tasks:
                     self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
 
-            # 获取机械臂
             self._acquire_arm(task_desc)
 
             with self._tasks_lock:
                 if material_id in self._active_tasks:
                     self._active_tasks[material_id]["status"] = "arm_moving_to_output"
 
-            # 模拟机械臂操作 (3秒)
-            self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
+            self.logger.info(
+                f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
+            )
             time.sleep(self.ARM_OPERATION_TIME)
 
-            # 清空加热台
             with self._stations_lock:
                 self._heating_stations[station_id].state = HeatingStationState.IDLE
                 self._heating_stations[station_id].current_material = None
@@ -643,17 +727,17 @@ class VirtualWorkbench:
                 self._heating_stations[station_id].heating_progress = 0.0
                 self._heating_stations[station_id].heating_start_time = None
 
-            # 释放机械臂
             self._release_arm()
 
-            # 任务完成
             with self._tasks_lock:
                 if material_id in self._active_tasks:
                     self._active_tasks[material_id]["status"] = "completed"
                     self._active_tasks[material_id]["end_time"] = time.time()
 
             self._update_data_status(f"{material_id}已移动到{output_position}")
-            self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
+            self.logger.info(
+                f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
+            )
 
             return {
                 "success": True,
@@ -662,8 +746,17 @@ class VirtualWorkbench:
                 "output_position": output_position,
                 "message": f"{material_id}已成功移动到{output_position}",
                 "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str)
+                            else (content.serialize() if content is not None else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
         except Exception as e:
@@ -677,83 +770,105 @@ class VirtualWorkbench:
                 "output_position": output_position,
                 "message": f"移动失败: {str(e)}",
                 "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
+                    LabSample(
+                        sample_uuid=sample_uuid,
+                        oss_path="",
+                        extra=(
+                            {"material_uuid": content}
+                            if isinstance(content, str) else (content.serialize() if content else {})
+                        ),
+                    )
+                    for sample_uuid, content in sample_uuids.items()
+                ],
             }
 
     # ============ 状态属性 ============
 
     @property
+    @topic_config()
     def status(self) -> str:
         return self.data.get("status", "Unknown")
 
     @property
+    @topic_config()
     def arm_state(self) -> str:
         return self._arm_state.value
 
     @property
+    @topic_config()
     def arm_current_task(self) -> str:
         return self._arm_current_task or ""
 
     @property
+    @topic_config()
     def heating_station_1_state(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(1)
             return station.state.value if station else "unknown"
 
     @property
+    @topic_config()
     def heating_station_1_material(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(1)
             return station.current_material or "" if station else ""
 
     @property
+    @topic_config()
     def heating_station_1_progress(self) -> float:
         with self._stations_lock:
             station = self._heating_stations.get(1)
             return station.heating_progress if station else 0.0
 
     @property
+    @topic_config()
     def heating_station_2_state(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(2)
             return station.state.value if station else "unknown"
 
     @property
+    @topic_config()
     def heating_station_2_material(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(2)
             return station.current_material or "" if station else ""
 
     @property
+    @topic_config()
     def heating_station_2_progress(self) -> float:
         with self._stations_lock:
             station = self._heating_stations.get(2)
             return station.heating_progress if station else 0.0
 
     @property
+    @topic_config()
     def heating_station_3_state(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(3)
             return station.state.value if station else "unknown"
 
     @property
+    @topic_config()
     def heating_station_3_material(self) -> str:
         with self._stations_lock:
             station = self._heating_stations.get(3)
             return station.current_material or "" if station else ""
 
     @property
+    @topic_config()
     def heating_station_3_progress(self) -> float:
         with self._stations_lock:
             station = self._heating_stations.get(3)
             return station.heating_progress if station else 0.0
 
     @property
+    @topic_config()
     def active_tasks_count(self) -> int:
         with self._tasks_lock:
             return len(self._active_tasks)
 
     @property
+    @topic_config()
     def message(self) -> str:
         return self.data.get("message", "")

unilabos/devices/workstation/workstation_base.py

@@ -197,6 +197,28 @@ class WorkstationBase(ABC):
         self._ros_node = workstation_node
         logger.info(f"工作站 {self._ros_node.device_id} 关联协议节点")
 
+    # ============ 物料转运回调 ============
+
+    def resource_tree_batch_transfer(
+        self,
+        transfers: list,
+        old_parents: list,
+        new_parents: list,
+    ) -> None:
+        """批量物料转运完成后的回调，供子类重写
+
+        默认实现：逐个调用 resource_tree_transfer（如存在）。
+
+        Args:
+            transfers: 转移列表，每项包含 resource, from_parent, to_parent, to_site 等
+            old_parents: 每个物料转移前的原父节点
+            new_parents: 每个物料转移后的新父节点
+        """
+        func = getattr(self, "resource_tree_transfer", None)
+        if callable(func):
+            for t, old_parent, new_parent in zip(transfers, old_parents, new_parents):
+                func(old_parent, t["resource"], new_parent)
+
     # ============ 设备操作接口 ============
 
     def call_device_method(self, method: str, *args, **kwargs) -> Any:

unilabos/messages/__init__.py

@@ -217,6 +217,24 @@ class AGVTransferProtocol(BaseModel):
     from_repo_position: str
     to_repo_position: str
 
+
+class BatchTransferItem(BaseModel):
+    """批量转运中的单个物料条目"""
+    resource_uuid: str = ""
+    resource_id: str = ""
+    from_position: str
+    to_position: str
+
+
+class BatchTransferProtocol(BaseModel):
+    """批量物料转运协议 — 支持多物料一次性从来源工站转运到目标工站"""
+    from_repo: dict
+    to_repo: dict
+    transfer_resources: list  # list[Resource dict]，被转运的物料
+    from_positions: list      # list[str]，来源 slot 位置（与 transfer_resources 平行）
+    to_positions: list        # list[str]，目标 slot 位置（与 transfer_resources 平行）
+
+
 #=============新添加的新的协议================
 class AddProtocol(BaseModel):
     vessel: dict
@@ -629,15 +647,16 @@ class HydrogenateProtocol(BaseModel):
     vessel: dict = Field(..., description="反应容器")
 
 __all__ = [
-    "Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", 
-    "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", 
-    "CentrifugeProtocol", "AddProtocol", "FilterProtocol", 
+    "Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol",
+    "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol",
+    "BatchTransferItem", "BatchTransferProtocol",
+    "CentrifugeProtocol", "AddProtocol", "FilterProtocol",
     "HeatChillProtocol",
     "HeatChillStartProtocol", "HeatChillStopProtocol",
-    "StirProtocol", "StartStirProtocol", "StopStirProtocol", 
-    "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol", 
+    "StirProtocol", "StartStirProtocol", "StopStirProtocol",
+    "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol",
     "FilterThroughProtocol", "RunColumnProtocol", "WashSolidProtocol",
-    "AdjustPHProtocol", "ResetHandlingProtocol", "DryProtocol", 
+    "AdjustPHProtocol", "ResetHandlingProtocol", "DryProtocol",
     "RecrystallizeProtocol", "HydrogenateProtocol"
 ]
 # End Protocols

unilabos/registry/decorators.py

@@ -0,0 +1,658 @@
+"""
+装饰器注册表系统
+
+通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
+
+Usage:
+    from unilabos.registry.decorators import (
+        device, action, resource,
+        InputHandle, OutputHandle,
+        ActionInputHandle, ActionOutputHandle,
+        HardwareInterface, Side, DataSource, NodeType,
+    )
+
+    @device(
+        id="solenoid_valve.mock",
+        category=["pump_and_valve"],
+        description="模拟电磁阀设备",
+        handles=[
+            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
+            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
+        ],
+        hardware_interface=HardwareInterface(
+            name="hardware_interface",
+            read="send_command",
+            write="send_command",
+        ),
+    )
+    class SolenoidValveMock:
+        @action(action_type=EmptyIn)
+        def close(self):
+            ...
+
+        @action(
+            handles=[
+                ActionInputHandle(key="in", data_type="fluid", label="in"),
+                ActionOutputHandle(key="out", data_type="fluid", label="out"),
+            ],
+        )
+        def set_valve_position(self, position):
+            ...
+
+        # 无 @action 装饰器 => auto- 前缀动作
+        def is_open(self):
+            ...
+"""
+
+from enum import Enum
+from functools import wraps
+from typing import Any, Callable, Dict, List, Optional, TypeVar
+
+from pydantic import BaseModel, ConfigDict, Field
+
+F = TypeVar("F", bound=Callable[..., Any])
+
+# ---------------------------------------------------------------------------
+# 枚举
+# ---------------------------------------------------------------------------
+
+
+class Side(str, Enum):
+    """UI 上 Handle 的显示位置"""
+
+    NORTH = "NORTH"
+    SOUTH = "SOUTH"
+    EAST = "EAST"
+    WEST = "WEST"
+
+
+class DataSource(str, Enum):
+    """Handle 的数据来源"""
+
+    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
+    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
+
+
+class NodeType(str, Enum):
+    """动作的节点类型（用于区分 ILab 节点和人工确认节点等）"""
+
+    ILAB = "ILab"
+    MANUAL_CONFIRM = "manual_confirm"
+
+
+# ---------------------------------------------------------------------------
+# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
+# ---------------------------------------------------------------------------
+
+
+class _DeviceHandleBase(BaseModel):
+    """设备/资源端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+
+    # 子类覆盖
+    io_type: str = ""
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class InputHandle(_DeviceHandleBase):
+    """
+    输入端口 (io_type="target"), 用于 @device / @resource handles
+
+    Example:
+        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
+    """
+
+    io_type: str = "target"
+
+
+class OutputHandle(_DeviceHandleBase):
+    """
+    输出端口 (io_type="source"), 用于 @device / @resource handles
+
+    Example:
+        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
+    """
+
+    io_type: str = "source"
+
+
+# ---------------------------------------------------------------------------
+# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
+# ---------------------------------------------------------------------------
+
+
+class _ActionHandleBase(BaseModel):
+    """动作端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class ActionInputHandle(_ActionHandleBase):
+    """
+    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
+
+    Example:
+        ActionInputHandle(
+            key="material_input", data_type="workbench_material",
+            label="物料编号", data_key="material_number", data_source="handle",
+        )
+    """
+
+    pass
+
+
+class ActionOutputHandle(_ActionHandleBase):
+    """
+    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
+
+    Example:
+        ActionOutputHandle(
+            key="station_output", data_type="workbench_station",
+            label="加热台ID", data_key="station_id", data_source="executor",
+        )
+    """
+
+    pass
+
+
+# ---------------------------------------------------------------------------
+# HardwareInterface
+# ---------------------------------------------------------------------------
+
+
+class HardwareInterface(BaseModel):
+    """
+    硬件通信接口定义
+
+    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
+
+    Example:
+        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
+    """
+
+    name: str
+    read: Optional[str] = None
+    write: Optional[str] = None
+    extra_info: Optional[List[str]] = None
+
+
+# ---------------------------------------------------------------------------
+# 全局注册表 -- 记录所有被装饰器标记的类/函数
+# ---------------------------------------------------------------------------
+_registered_devices: Dict[str, type] = {}  # device_id -> class
+_registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
+
+
+def _device_handles_to_list(
+    handles: Optional[List[_DeviceHandleBase]],
+) -> List[Dict[str, Any]]:
+    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
+    if handles is None:
+        return []
+    return [h.to_registry_dict() for h in handles]
+
+
+def _action_handles_to_dict(
+    handles: Optional[List[_ActionHandleBase]],
+) -> Dict[str, Any]:
+    """
+    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
+
+    ActionInputHandle => "input", ActionOutputHandle => "output"
+    """
+    if handles is None:
+        return {}
+    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
+    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
+    result: Dict[str, Any] = {}
+    if input_list:
+        result["input"] = input_list
+    if output_list:
+        result["output"] = output_list
+    return result
+
+
+# ---------------------------------------------------------------------------
+# @device 类装饰器
+# ---------------------------------------------------------------------------
+
+
+# noinspection PyShadowingBuiltins
+def device(
+    id: Optional[str] = None,
+    ids: Optional[List[str]] = None,
+    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
+    category: Optional[List[str]] = None,
+    description: str = "",
+    display_name: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    device_type: str = "python",
+    hardware_interface: Optional[HardwareInterface] = None,
+):
+    """
+    设备类装饰器
+
+    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
+
+    支持两种模式:
+      1. 单设备: id="xxx", category=[...]
+      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
+
+    Args:
+        id: 单设备时的注册表唯一标识
+        ids: 多设备时的 id 列表，与 id_meta 配合使用
+        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
+        category: 设备分类标签列表 (必填)
+        description: 设备描述
+        display_name: 人类可读的设备显示名称，缺失时默认使用 id
+        icon: 图标路径
+        version: 版本号
+        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
+        model: 可选的 3D 模型配置
+        device_type: 设备实现类型 ("python" / "ros2")
+        hardware_interface: 硬件通信接口 (HardwareInterface)
+    """
+    # Resolve device ids
+    if ids is not None:
+        device_ids = list(ids)
+        if not device_ids:
+            raise ValueError("@device ids 不能为空")
+        id_meta = id_meta or {}
+    elif id is not None:
+        device_ids = [id]
+        id_meta = {}
+    else:
+        raise ValueError("@device 必须提供 id 或 ids")
+
+    if category is None:
+        raise ValueError("@device category 必填")
+
+    base_meta = {
+        "category": category,
+        "description": description,
+        "display_name": display_name,
+        "icon": icon,
+        "version": version,
+        "handles": _device_handles_to_list(handles),
+        "model": model,
+        "device_type": device_type,
+        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
+    }
+
+    def decorator(cls):
+        cls._device_registry_meta = base_meta
+        cls._device_registry_id_meta = id_meta
+        cls._device_registry_ids = device_ids
+
+        for did in device_ids:
+            if did in _registered_devices:
+                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
+            _registered_devices[did] = cls
+
+        return cls
+
+    return decorator
+
+
+# ---------------------------------------------------------------------------
+# @action 方法装饰器
+# ---------------------------------------------------------------------------
+
+# 区分 "用户没传 action_type" 和 "用户传了 None"
+_ACTION_TYPE_UNSET = object()
+
+
+# noinspection PyShadowingNames
+def action(
+    action_type: Any = _ACTION_TYPE_UNSET,
+    goal: Optional[Dict[str, str]] = None,
+    feedback: Optional[Dict[str, str]] = None,
+    result: Optional[Dict[str, str]] = None,
+    handles: Optional[List[_ActionHandleBase]] = None,
+    goal_default: Optional[Dict[str, Any]] = None,
+    placeholder_keys: Optional[Dict[str, str]] = None,
+    always_free: bool = False,
+    is_protocol: bool = False,
+    description: str = "",
+    auto_prefix: bool = False,
+    parent: bool = False,
+    node_type: Optional["NodeType"] = None,
+):
+    """
+    动作方法装饰器
+
+    标记方法为注册表动作。有三种用法:
+      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
+      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
+      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
+
+    Protocol 用法:
+      @action(action_type=Add, is_protocol=True)
+      def AddProtocol(self): ...
+      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
+      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
+
+    Args:
+        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
+                     不传/默认 = UniLabJsonCommand (非 auto).
+        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
+              protocol 模式下可留空，系统自动生成 identity 映射.
+        feedback: Feedback 字段映射
+        result: Result 字段映射
+        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
+        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
+        placeholder_keys: 参数占位符配置
+        always_free: 是否为永久闲置动作 (不受排队限制)
+        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
+        description: 动作描述
+        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
+        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
+        node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。
+                   不填写时不写入注册表。
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
+        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
+
+        meta = {
+            "action_type": resolved_type,
+            "goal": goal or {},
+            "feedback": feedback or {},
+            "result": result or {},
+            "handles": _action_handles_to_dict(handles),
+            "goal_default": goal_default or {},
+            "placeholder_keys": placeholder_keys or {},
+            "always_free": always_free,
+            "is_protocol": is_protocol,
+            "description": description,
+            "auto_prefix": auto_prefix,
+            "parent": parent,
+        }
+        if node_type is not None:
+            meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
+        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
+
+        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
+        if always_free:
+            wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_action_meta(func) -> Optional[Dict[str, Any]]:
+    """获取方法上的 @action 装饰器元数据"""
+    return getattr(func, "_action_registry_meta", None)
+
+
+def has_action_decorator(func) -> bool:
+    """检查函数是否带有 @action 装饰器"""
+    return hasattr(func, "_action_registry_meta")
+
+
+# ---------------------------------------------------------------------------
+# @resource 类/函数装饰器
+# ---------------------------------------------------------------------------
+
+
+def resource(
+    id: str,
+    category: List[str],
+    description: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    class_type: str = "pylabrobot",
+):
+    """
+    资源类/函数装饰器
+
+    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
+
+    Args:
+        id: 注册表唯一标识 (必填, 不可重复)
+        category: 资源分类标签列表 (必填)
+        description: 资源描述
+        icon: 图标路径
+        version: 版本号
+        handles: 端口列表 (InputHandle / OutputHandle)
+        model: 可选的 3D 模型配置
+        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
+    """
+
+    def decorator(obj):
+        meta = {
+            "resource_id": id,
+            "category": category,
+            "description": description,
+            "icon": icon,
+            "version": version,
+            "handles": _device_handles_to_list(handles),
+            "model": model,
+            "class_type": class_type,
+        }
+        obj._resource_registry_meta = meta
+
+        if id in _registered_resources:
+            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
+        _registered_resources[id] = obj
+
+        return obj
+
+    return decorator
+
+
+def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
+    """
+    获取类上的 @device 装饰器元数据。
+
+    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
+    (base_meta 与 id_meta[device_id] 深度合并)。
+    """
+    base = getattr(cls, "_device_registry_meta", None)
+    if base is None:
+        return None
+    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
+    if device_id is None or device_id not in id_meta:
+        result = dict(base)
+        ids = getattr(cls, "_device_registry_ids", None)
+        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
+        return result
+
+    overrides = id_meta[device_id]
+    result = dict(base)
+    result["device_id"] = device_id
+    for key in ["handles", "description", "icon", "model"]:
+        if key in overrides:
+            val = overrides[key]
+            if key == "handles" and isinstance(val, list):
+                # handles 必须是 Handle 对象列表
+                result[key] = [h.to_registry_dict() for h in val]
+            else:
+                result[key] = val
+    return result
+
+
+def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
+    """获取对象上的 @resource 装饰器元数据"""
+    return getattr(obj, "_resource_registry_meta", None)
+
+
+def get_all_registered_devices() -> Dict[str, type]:
+    """获取所有已注册的设备类"""
+    return _registered_devices.copy()
+
+
+def get_all_registered_resources() -> Dict[str, Any]:
+    """获取所有已注册的资源"""
+    return _registered_resources.copy()
+
+
+def clear_registry():
+    """清空全局注册表 (用于测试)"""
+    _registered_devices.clear()
+    _registered_resources.clear()
+
+
+# ---------------------------------------------------------------------------
+# 枚举值归一化
+# ---------------------------------------------------------------------------
+
+
+def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]:
+    """将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。
+
+    适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。
+
+    处理以下格式:
+      - "MANUAL_CONFIRM"  →  NodeType["MANUAL_CONFIRM"].value = "manual_confirm"
+      - "manual_confirm"  →  NodeType("manual_confirm").value = "manual_confirm"
+      - "HANDLE"          →  DataSource["HANDLE"].value = "handle"
+      - "NORTH"           →  Side["NORTH"].value = "NORTH"
+      - 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找
+    """
+    if not raw:
+        return None
+    raw_str = str(raw)
+    if "." in raw_str:
+        raw_str = raw_str.rsplit(".", 1)[-1]
+    try:
+        return enum_cls[raw_str].value
+    except KeyError:
+        pass
+    try:
+        return enum_cls(raw_str).value
+    except ValueError:
+        return raw_str
+
+
+# ---------------------------------------------------------------------------
+# topic_config / not_action / always_free 装饰器
+# ---------------------------------------------------------------------------
+
+
+def topic_config(
+    period: Optional[float] = None,
+    print_publish: Optional[bool] = None,
+    qos: Optional[int] = None,
+    name: Optional[str] = None,
+) -> Callable[[F], F]:
+    """
+    Topic发布配置装饰器
+
+    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
+
+    Args:
+        period: 发布周期（秒）。None 表示使用默认值 5.0
+        print_publish: 是否打印发布日志。None 表示使用节点默认配置
+        qos: QoS深度配置。None 表示使用默认值 10
+        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
+
+    Note:
+        与 @property 连用时，@topic_config 必须放在 @property 下面，
+        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        wrapper._topic_period = period  # type: ignore[attr-defined]
+        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
+        wrapper._topic_qos = qos  # type: ignore[attr-defined]
+        wrapper._topic_name = name  # type: ignore[attr-defined]
+        wrapper._has_topic_config = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_topic_config(func) -> dict:
+    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
+    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
+        return {
+            "period": getattr(func, "_topic_period", None),
+            "print_publish": getattr(func, "_topic_print_publish", None),
+            "qos": getattr(func, "_topic_qos", None),
+            "name": getattr(func, "_topic_name", None),
+        }
+    return {}
+
+
+def always_free(func: F) -> F:
+    """
+    标记动作为永久闲置(不受busy队列限制)的装饰器
+
+    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
+    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_always_free(func) -> bool:
+    """检查函数是否被标记为永久闲置"""
+    return getattr(func, "_is_always_free", False)
+
+
+def not_action(func: F) -> F:
+    """
+    标记方法为非动作的装饰器
+
+    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
+    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_not_action = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_not_action(func) -> bool:
+    """检查函数是否被标记为非动作"""
+    return getattr(func, "_is_not_action", False)

unilabos/registry/devices/Qone_nmr.yaml

@@ -13,21 +13,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -71,31 +68,6 @@ Qone_nmr:
           title: monitor_folder_for_new_content参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-strings_to_txt:
         feedback: {}
         goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -167,32 +136,31 @@ Qone_nmr:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/bioyond_cell.yaml

@@ -22,7 +22,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: auto_batch_outbound_from_xlsx参数
@@ -490,7 +491,9 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
-                  type: string
+                  items:
+                    type: string
+                  type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
                   type: string
@@ -499,7 +502,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_and_inbound_materials参数
@@ -535,7 +539,8 @@ bioyond_cell:
               - type_id
               - warehouse_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_material参数
@@ -556,11 +561,16 @@ bioyond_cell:
             goal:
               properties:
                 mappings:
+                  additionalProperties:
+                    type: object
                   type: object
               required:
               - mappings
               type: object
-            result: {}
+            result:
+              items:
+                type: object
+              type: array
           required:
           - goal
           title: create_materials参数
@@ -592,7 +602,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders参数
@@ -624,7 +635,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders_v2参数
@@ -665,7 +677,8 @@ bioyond_cell:
               - bottle_type
               - location_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_sample参数
@@ -718,7 +731,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: order_list_v2参数
@@ -821,7 +835,8 @@ bioyond_cell:
               required:
               - material_obj
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: report_material_change参数
@@ -875,7 +890,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_continue参数
@@ -896,7 +912,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_reset参数
@@ -917,7 +934,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start参数
@@ -1362,7 +1380,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding参数
@@ -1807,7 +1826,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding_v2参数
@@ -1828,7 +1848,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_stop参数
@@ -1850,12 +1871,15 @@ bioyond_cell:
               properties:
                 items:
                   items:
+                    additionalProperties:
+                      type: string
                     type: object
                   type: array
               required:
               - items
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_batch_inbound参数
@@ -1884,7 +1908,8 @@ bioyond_cell:
               - material_id
               - location_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_inbound参数
@@ -1905,7 +1930,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_1_to_2参数
@@ -1946,7 +1972,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2参数
@@ -1983,7 +2010,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2_to_1参数
@@ -2007,10 +2035,11 @@ bioyond_cell:
                 ip:
                   type: string
                 port:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: update_push_ip参数
@@ -2039,7 +2068,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish参数
@@ -2072,7 +2102,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish_polling参数
@@ -2104,7 +2135,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_transfer_task参数
@@ -2112,8 +2144,7 @@ bioyond_cell:
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
     status_types:
-      device_id: String
-      material_info: dict
+      device_id: ''
     type: python
   config_info: []
   description: ''
@@ -2134,11 +2165,7 @@ bioyond_cell:
       properties:
         device_id:
           type: string
-        material_info:
-          type: object
       required:
       - device_id
-      - material_info
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -24,7 +24,8 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: brief_step_parameters参数
@@ -53,7 +54,8 @@ bioyond_dispensing_station:
               - report_request
               - used_materials
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_order_finish_report参数
@@ -78,7 +80,8 @@ bioyond_dispensing_station:
               required:
               - order_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: project_order_report参数
@@ -128,7 +131,8 @@ bioyond_dispensing_station:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_sample_locations参数
@@ -144,12 +148,12 @@ bioyond_dispensing_station:
           temperature: temperature
           titration: titration
         goal_default:
-          delay_time: '600'
-          hold_m_name: ''
+          delay_time: null
+          hold_m_name: null
           liquid_material_name: NMP
-          speed: '400'
-          temperature: '40'
-          titration: ''
+          speed: null
+          temperature: null
+          titration: null
         handles:
           input:
           - data_key: titration
@@ -165,20 +169,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreate9010VialFeedingTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 延迟时间(秒),默认600
                   type: string
                 hold_m_name:
@@ -189,11 +189,9 @@ bioyond_dispensing_station:
                   description: 10%物料的液体物料名称,默认为"NMP"
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度,默认400
                   type: string
                 temperature:
-                  default: '40'
                   description: 温度(℃),默认40
                   type: string
                 titration:
@@ -202,21 +200,14 @@ bioyond_dispensing_station:
                   type: string
               required:
               - titration
-              - hold_m_name
               title: BatchCreate9010VialFeedingTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreate9010VialFeedingTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreate9010VialFeedingTasks
+          title: batch_create_90_10_vial_feeding_tasks参数
           type: object
         type: UniLabJsonCommand
       batch_create_diamine_solution_tasks:
@@ -228,11 +219,11 @@ bioyond_dispensing_station:
           speed: speed
           temperature: temperature
         goal_default:
-          delay_time: '600'
+          delay_time: null
           liquid_material_name: NMP
-          solutions: ''
-          speed: '400'
-          temperature: '20'
+          solutions: null
+          speed: null
+          temperature: null
         handles:
           input:
           - data_key: solutions
@@ -248,20 +239,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreateDiamineSolutionTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
                   type: string
                 liquid_material_name:
@@ -275,11 +262,9 @@ bioyond_dispensing_station:
                     4.5, "solvent_volume": 18}]'
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
                   type: string
                 temperature:
-                  default: '20'
                   description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
                   type: string
               required:
@@ -287,17 +272,11 @@ bioyond_dispensing_station:
               title: BatchCreateDiamineSolutionTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreateDiamineSolutionTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreateDiamineSolutionTasks
+          title: batch_create_diamine_solution_tasks参数
           type: object
         type: UniLabJsonCommand
       compute_experiment_design:
@@ -309,7 +288,7 @@ bioyond_dispensing_station:
           wt_percent: wt_percent
         goal_default:
           m_tot: '70'
-          ratio: ''
+          ratio: null
           titration_percent: '0.03'
           wt_percent: '0.25'
         handles:
@@ -338,12 +317,8 @@ bioyond_dispensing_station:
             handler_key: feeding_order
             io_type: sink
             label: Feeding Order Data From Calculation Node
-        result:
-          feeding_order: feeding_order
-          return_info: return_info
-          solutions: solutions
-          solvents: solvents
-          titration: titration
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
           properties:
@@ -356,7 +331,7 @@ bioyond_dispensing_station:
                   type: string
                 ratio:
                   description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
-                  type: string
+                  type: object
                 titration_percent:
                   default: '0.03'
                   description: 滴定比例(10%部分)
@@ -371,14 +346,23 @@ bioyond_dispensing_station:
             result:
               properties:
                 feeding_order:
+                  items: {}
+                  title: Feeding Order
                   type: array
                 return_info:
+                  title: Return Info
                   type: string
                 solutions:
+                  items: {}
+                  title: Solutions
                   type: array
                 solvents:
+                  additionalProperties: true
+                  title: Solvents
                   type: object
                 titration:
+                  additionalProperties: true
+                  title: Titration
                   type: object
               required:
               - solutions
@@ -386,11 +370,11 @@ bioyond_dispensing_station:
               - solvents
               - feeding_order
               - return_info
-              title: ComputeExperimentDesign_Result
+              title: ComputeExperimentDesignReturn
               type: object
           required:
           - goal
-          title: ComputeExperimentDesign
+          title: compute_experiment_design参数
           type: object
         type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
@@ -444,17 +428,18 @@ bioyond_dispensing_station:
           speed: ''
           temperature: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: DispenStationVialFeed_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -502,38 +487,13 @@ bioyond_dispensing_station:
                   type: string
                 temperature:
                   type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationVialFeed_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationVialFeed_Result
               type: object
           required:
@@ -564,17 +524,18 @@ bioyond_dispensing_station:
           temperature: ''
           volume: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: DispenStationSolnPrep_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -594,24 +555,13 @@ bioyond_dispensing_station:
                   type: string
                 volume:
                   type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationSolnPrep_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationSolnPrep_Result
               type: object
           required:
@@ -624,8 +574,8 @@ bioyond_dispensing_station:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
           properties:
@@ -635,12 +585,6 @@ bioyond_dispensing_station:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -654,8 +598,8 @@ bioyond_dispensing_station:
           target_device_id: target_device_id
           transfer_groups: transfer_groups
         goal_default:
-          target_device_id: ''
-          transfer_groups: ''
+          target_device_id: null
+          transfer_groups: null
         handles: {}
         placeholder_keys:
           target_device_id: unilabos_devices
@@ -671,32 +615,13 @@ bioyond_dispensing_station:
                   type: string
                 transfer_groups:
                   description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
-                  items:
-                    properties:
-                      materials:
-                        description: 物料名称（手动输入，系统将通过RPC查询验证）
-                        type: string
-                      target_sites:
-                        description: 目标库位（手动输入，如"A01"）
-                        type: string
-                      target_stack:
-                        description: 目标堆栈名称（从列表选择）
-                        enum:
-                        - 堆栈1左
-                        - 堆栈1右
-                        - 站内试剂存放堆栈
-                        type: string
-                    required:
-                    - materials
-                    - target_stack
-                    - target_sites
-                    type: object
                   type: array
               required:
               - target_device_id
               - transfer_groups
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_materials_to_reaction_station参数
@@ -709,9 +634,9 @@ bioyond_dispensing_station:
           check_interval: check_interval
           timeout: timeout
         goal_default:
-          batch_create_result: ''
-          check_interval: '10'
-          timeout: '7200'
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
         handles:
           input:
           - data_key: batch_create_result
@@ -727,47 +652,35 @@ bioyond_dispensing_station:
             handler_key: batch_reports_result
             io_type: sink
             label: Batch Order Completion Reports
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: WaitForMultipleOrdersAndGetReports_Feedback
-              type: object
             goal:
               properties:
                 batch_create_result:
                   description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
                   type: string
                 check_interval:
-                  default: '10'
+                  default: 10
                   description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
-                  type: string
+                  type: integer
                 timeout:
-                  default: '7200'
+                  default: 7200
                   description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
-                  type: string
-              required:
-              - batch_create_result
+                  type: integer
+              required: []
               title: WaitForMultipleOrdersAndGetReports_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
-                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
-                    order_id, status, completion_status, report, elapsed_time)'
-                  type: string
-              required:
-              - return_info
               title: WaitForMultipleOrdersAndGetReports_Result
               type: object
           required:
           - goal
-          title: WaitForMultipleOrdersAndGetReports
+          title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

unilabos/registry/devices/camera.yaml

@@ -1,81 +0,0 @@
-camera:
-  category:
-  - camera
-  class:
-    action_value_mappings:
-      auto-destroy_node:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: destroy_node参数
-          type: object
-        type: UniLabJsonCommand
-      auto-timer_callback:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: timer_callback参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.camera:VideoPublisher
-    status_types: {}
-    type: ros2
-  config_info: []
-  description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        camera_index:
-          default: 0
-          type: string
-        device_id:
-          default: video_publisher
-          type: string
-        device_uuid:
-          default: ''
-          type: string
-        period:
-          default: 0.1
-          type: number
-        registry_name:
-          default: ''
-          type: string
-        resource_tracker:
-          type: object
-      required: []
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/cameraSII.yaml

@@ -18,7 +18,7 @@ cameracontroller_device:
             goal:
               properties:
                 config:
-                  type: string
+                  type: object
               required: []
               type: object
             result: {}
@@ -42,7 +42,8 @@ cameracontroller_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: stop参数
@@ -50,7 +51,7 @@ cameracontroller_device:
         type: UniLabJsonCommand
     module: unilabos.devices.cameraSII.cameraUSB:CameraController
     status_types:
-      status: dict
+      status: Dict[str, Any]
     type: python
   config_info: []
   description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -103,5 +104,4 @@ cameracontroller_device:
       required:
       - status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

@@ -141,30 +141,26 @@ hplc.agilent:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -175,7 +171,6 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
-      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -199,10 +194,6 @@ hplc.agilent:
       properties:
         could_run:
           type: boolean
-        data_file:
-          items:
-            type: string
-          type: array
         device_status:
           type: string
         driver_init_ok:
@@ -216,14 +207,13 @@ hplc.agilent:
         success:
           type: boolean
       required:
-      - status_text
-      - device_status
       - could_run
+      - device_status
       - driver_init_ok
-      - is_running
-      - success
       - finish_status
-      - data_file
+      - is_running
+      - status_text
+      - success
       type: object
   version: 1.0.0
 hplc.agilent-zhida:
@@ -236,26 +226,25 @@ hplc.agilent-zhida:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -315,21 +304,18 @@ hplc.agilent-zhida:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -341,35 +327,35 @@ hplc.agilent-zhida:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -407,7 +393,7 @@ hplc.agilent-zhida:
         status:
           type: object
       required:
-      - status
       - methods
+      - status
       type: object
   version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -120,42 +120,41 @@ raman.home_made:
           type: object
         type: UniLabJsonCommand
       raman_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/chinwe.yaml

@@ -19,7 +19,8 @@ separator.chinwe:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: connect参数
@@ -65,135 +66,145 @@ separator.chinwe:
               required:
               - command_dict
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: execute_command_from_outer参数
           type: object
         type: UniLabJsonCommand
       motor_rotate_quarter:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: 60
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机旋转 1/4 圈
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 speed:
                   default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
-              - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_rotate_quarter参数
+          type: object
         type: UniLabJsonCommand
       motor_run_continuous:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机一直旋转 (速度模式)
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 speed:
-                  default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
               - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_run_continuous参数
+          type: object
         type: UniLabJsonCommand
       motor_stop:
+        feedback: {}
         goal:
           motor_id: 4
+        goal_default:
+          motor_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 停止指定步进电机
           properties:
+            feedback: {}
             goal:
               properties:
                 motor_id:
-                  default: '4'
                   description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
                   title: '注: 4=搅拌, 5=旋钮'
-                  type: string
+                  type: integer
               required:
               - motor_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_stop参数
+          type: object
         type: UniLabJsonCommand
       pump_aspirate:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵吸液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 volume:
-                  default: 1000
                   description: 吸液步数
                   type: integer
               required:
@@ -201,41 +212,38 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_aspirate参数
+          type: object
         type: UniLabJsonCommand
       pump_dispense:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵排液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 volume:
-                  default: 1000
                   description: 排液步数
                   type: integer
               required:
@@ -243,121 +251,152 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_dispense参数
+          type: object
         type: UniLabJsonCommand
       pump_initialize:
+        feedback: {}
         goal:
           drain_port: 0
           output_port: 0
           pump_id: 1
           speed: 10
+        goal_default:
+          drain_port: 0
+          output_port: 0
+          pump_id: null
+          speed: 10
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 初始化指定注射泵
           properties:
+            feedback: {}
             goal:
               properties:
                 drain_port:
                   default: 0
                   description: 排液口索引
-                  type: integer
+                  type: string
                 output_port:
                   default: 0
                   description: 输出口索引
-                  type: integer
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  title: '注: 1号泵, 2号泵, 3号泵'
                   type: string
+                pump_id:
+                  description: 选择泵
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: integer
                 speed:
                   default: 10
                   description: 运动速度
-                  type: integer
+                  type: string
               required:
               - pump_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_initialize参数
+          type: object
         type: UniLabJsonCommand
       pump_valve:
+        feedback: {}
         goal:
           port: 1
           pump_id: 1
+        goal_default:
+          port: null
+          pump_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 切换指定泵的阀门端口
           properties:
+            feedback: {}
             goal:
               properties:
                 port:
-                  default: '1'
                   description: 阀门端口号 (1-8)
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
               required:
               - pump_id
               - port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_valve参数
+          type: object
         type: UniLabJsonCommand
       wait_sensor_level:
+        feedback: {}
         goal:
           target_state: 有液
           timeout: 30
+        goal_default:
+          target_state: 有液
+          timeout: 30
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待传感器液位条件
           properties:
+            feedback: {}
             goal:
               properties:
                 target_state:
                   default: 有液
                   description: 目标液位状态
-                  enum:
-                  - 有液
-                  - 无液
                   type: string
                 timeout:
                   default: 30
                   description: 超时时间 (秒)
                   type: integer
-              required:
-              - target_state
+              required: []
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_sensor_level参数
+          type: object
         type: UniLabJsonCommand
       wait_time:
+        feedback: {}
         goal:
           duration: 10
+        goal_default:
+          duration: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待指定时间
           properties:
+            feedback: {}
             goal:
               properties:
                 duration:
-                  default: 10
                   description: 等待时间 (秒)
                   type: integer
               required:
               - duration
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_time参数
+          type: object
         type: UniLabJsonCommand
     module: unilabos.devices.separator.chinwe:ChinweDevice
     status_types:
@@ -406,8 +445,8 @@ separator.chinwe:
         sensor_rssi:
           type: integer
       required:
+      - is_connected
       - sensor_level
       - sensor_rssi
-      - is_connected
       type: object
   version: 2.1.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -64,7 +64,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: fun_wuliao_test参数
@@ -109,7 +110,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd参数
@@ -220,7 +222,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -309,7 +312,8 @@ coincellassemblyworkstation_device:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -351,7 +355,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_stop参数
@@ -376,7 +381,8 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -430,7 +436,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -467,7 +474,8 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -611,7 +619,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -663,31 +672,6 @@ coincellassemblyworkstation_device:
           title: modify_deck_name参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-qiming_coin_cell_code:
         feedback: {}
         goal: {}
@@ -735,7 +719,8 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -826,25 +811,24 @@ coincellassemblyworkstation_device:
         sys_status:
           type: string
       required:
-      - sys_status
-      - sys_mode
-      - request_rec_msg_status
-      - request_send_msg_status
       - data_assembly_coin_cell_num
+      - data_assembly_pressure
       - data_assembly_time
-      - data_open_circuit_voltage
       - data_axis_x_pos
       - data_axis_y_pos
       - data_axis_z_pos
-      - data_pole_weight
-      - data_assembly_pressure
-      - data_electrolyte_volume
-      - data_coin_num
       - data_coin_cell_code
+      - data_coin_num
       - data_electrolyte_code
-      - data_glove_box_pressure
+      - data_electrolyte_volume
       - data_glove_box_o2_content
+      - data_glove_box_pressure
       - data_glove_box_water_content
+      - data_open_circuit_voltage
+      - data_pole_weight
+      - request_rec_msg_status
+      - request_send_msg_status
+      - sys_mode
+      - sys_status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/gas_handler.yaml

@@ -50,26 +50,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -82,26 +81,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -116,32 +114,31 @@ gas_source.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -232,26 +229,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -264,26 +260,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -298,32 +293,31 @@ vacuum_pump.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/hotel.yaml

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
-      rotation: String
+      rotation: ''
     type: python
   config_info: []
   description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -22,7 +22,8 @@ xyz_stepper_controller:
               required:
               - degrees
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: degrees_to_steps参数
@@ -47,7 +48,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: emergency_stop参数
@@ -72,7 +74,10 @@ xyz_stepper_controller:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: enable_all_axes参数
@@ -101,7 +106,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: enable_motor参数
@@ -122,7 +128,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: home_all_axes参数
@@ -147,7 +156,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: home_axis参数
@@ -188,7 +198,8 @@ xyz_stepper_controller:
               - axis
               - position
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position参数
@@ -229,7 +240,8 @@ xyz_stepper_controller:
               - axis
               - degrees
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_degrees参数
@@ -270,7 +282,8 @@ xyz_stepper_controller:
               - axis
               - revolutions
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_revolutions参数
@@ -301,14 +314,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x:
-                  type: string
+                  type: integer
                 y:
-                  type: string
+                  type: integer
                 z:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz参数
@@ -339,14 +355,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_deg:
-                  type: string
+                  type: number
                 y_deg:
-                  type: string
+                  type: number
                 z_deg:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_degrees参数
@@ -377,14 +396,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_rev:
-                  type: string
+                  type: number
                 y_rev:
-                  type: string
+                  type: number
                 z_rev:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_revolutions参数
@@ -409,7 +431,8 @@ xyz_stepper_controller:
               required:
               - revolutions
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: revolutions_to_steps参数
@@ -442,7 +465,8 @@ xyz_stepper_controller:
               - axis
               - speed
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: set_speed_mode参数
@@ -467,7 +491,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_degrees参数
@@ -492,7 +517,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_revolutions参数
@@ -513,7 +539,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: stop_all_axes参数
@@ -542,7 +571,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_completion参数
@@ -550,8 +580,7 @@ xyz_stepper_controller:
         type: UniLabJsonCommand
     module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
-      all_positions: dict
-      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
+      all_positions: Dict[MotorAxis, MotorPosition]
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
     data:
       properties:
         all_positions:
-          type: object
-        motor_status:
+          additionalProperties:
+            type: object
           type: object
       required:
-      - motor_status
       - all_positions
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,31 +5,6 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_status_summary:
         feedback: {}
         goal: {}
@@ -66,7 +41,8 @@ neware_battery_test_system:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: test_connection参数
@@ -77,9 +53,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 调试方法：显示所有资源的实际名称
           properties:
@@ -89,19 +64,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: debug_resource_names参数
           type: object
         type: UniLabJsonCommand
       export_status_json:
@@ -111,9 +77,8 @@ neware_battery_test_system:
         goal_default:
           filepath: bts_status.json
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 导出当前状态数据到JSON文件
           properties:
@@ -127,19 +92,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 导出操作结果信息
-                  type: string
-                success:
-                  description: 导出是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: export_status_json参数
           type: object
         type: UniLabJsonCommand
       get_device_summary:
@@ -181,10 +137,8 @@ neware_battery_test_system:
         goal_default:
           plate_num: null
         handles: {}
-        result:
-          plate_data: plate_data
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 获取指定盘或所有盘的状态信息
           properties:
@@ -193,29 +147,14 @@ neware_battery_test_system:
               properties:
                 plate_num:
                   description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
-                  maximum: 2
-                  minimum: 1
                   type: integer
               required: []
               type: object
             result:
-              properties:
-                plate_data:
-                  description: 盘状态数据（单盘或所有盘）
-                  type: object
-                return_info:
-                  description: 操作结果信息
-                  type: string
-                success:
-                  description: 查询是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              - plate_data
               type: object
           required:
           - goal
+          title: get_plate_status参数
           type: object
         type: UniLabJsonCommand
       print_status_summary_action:
@@ -223,9 +162,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 打印通道状态摘要信息到控制台
           properties:
@@ -235,28 +173,21 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 打印操作结果信息
-                  type: string
-                success:
-                  description: 打印是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: print_status_summary_action参数
           type: object
         type: UniLabJsonCommand
       query_plate_action:
         feedback: {}
         goal:
-          string: plate_id
+          plate_id: plate_id
+          string: string
         goal_default:
           string: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
           success: success
@@ -264,27 +195,23 @@ neware_battery_test_system:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -298,13 +225,11 @@ neware_battery_test_system:
           csv_path: string
           output_dir: string
         goal_default:
-          csv_path: ''
+          csv_path: null
           output_dir: .
         handles: {}
-        result:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 从CSV文件批量提交Neware测试任务
           properties:
@@ -315,31 +240,17 @@ neware_battery_test_system:
                   description: 输入CSV文件的绝对路径
                   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
                   type: string
               required:
               - csv_path
               type: object
             result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: submit_from_csv参数
           type: object
         type: UniLabJsonCommand
       test_connection_action:
@@ -347,9 +258,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 测试与电池测试系统的TCP连接
           properties:
@@ -359,19 +269,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 连接测试结果信息
-                  type: string
-                success:
-                  description: 连接测试是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: test_connection_action参数
           type: object
         type: UniLabJsonCommand
       upload_backup_to_oss:
@@ -392,12 +293,8 @@ neware_battery_test_system:
             handler_key: uploaded_files
             io_type: sink
             label: Uploaded Files (with standard flow info)
-        result:
-          failed_files: failed_files
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 上传备份文件到阿里云OSS
           properties:
@@ -417,65 +314,17 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                failed_files:
-                  description: 上传失败的文件名列表
-                  items:
-                    type: string
-                  type: array
-                return_info:
-                  description: 上传操作结果信息
-                  type: string
-                success:
-                  description: 上传是否成功
-                  type: boolean
-                total_count:
-                  description: 总文件数
-                  type: integer
-                uploaded_count:
-                  description: 成功上传的文件数
-                  type: integer
-                uploaded_files:
-                  description: 成功上传的文件详情列表
-                  items:
-                    properties:
-                      Battery_Code:
-                        description: 电池编码
-                        type: string
-                      Electrolyte_Code:
-                        description: 电解液编码
-                        type: string
-                      filename:
-                        description: 文件名
-                        type: string
-                      url:
-                        description: OSS下载链接
-                        type: string
-                    required:
-                    - filename
-                    - url
-                    - Battery_Code
-                    - Electrolyte_Code
-                    type: object
-                  type: array
-              required:
-              - return_info
-              - success
-              - uploaded_count
-              - total_count
-              - failed_files
-              - uploaded_files
               type: object
           required:
           - goal
+          title: upload_backup_to_oss参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
-      channel_status: dict
-      connection_info: dict
+      channel_status: Dict[int, Dict]
+      connection_info: Dict[str, str]
       device_summary: dict
-      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -517,23 +366,24 @@ neware_battery_test_system:
     data:
       properties:
         channel_status:
+          additionalProperties:
+            type: object
           type: object
         connection_info:
+          additionalProperties:
+            type: string
           type: object
         device_summary:
           type: object
-        plate_status:
-          type: object
         status:
           type: string
         total_channels:
           type: integer
       required:
-      - status
       - channel_status
       - connection_info
-      - total_channels
-      - plate_status
       - device_summary
+      - status
+      - total_channels
       type: object
   version: 1.0.0

unilabos/registry/devices/opcua_example.yaml

@@ -142,8 +142,7 @@ opcua_example:
           type: object
         type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
-    status_types:
-      node_value: String
+    status_types: {}
     type: python
   config_info: []
   description: null
@@ -167,10 +166,7 @@ opcua_example:
       - url
       type: object
     data:
-      properties:
-        node_value:
-          type: string
-      required:
-      - node_value
+      properties: {}
+      required: []
       type: object
   version: 1.0.0

unilabos/registry/devices/opsky_ATR30007.yaml

@@ -80,7 +80,8 @@ opsky_ATR30007:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: run_once参数

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -100,42 +100,41 @@ rotavap.one:
           type: object
         type: UniLabJsonCommand
       set_timer:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -250,9 +249,13 @@ separator.homemade:
         feedback:
           status: status
         goal:
+          event: event
           settling_time: settling_time
           stir_speed: stir_speed
-          stir_time: stir_time,
+          stir_time: stir_time
+          time: time
+          time_spec: time_spec
+          vessel: vessel
         goal_default:
           event: ''
           settling_time: ''
@@ -281,34 +284,42 @@ separator.homemade:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: Stir_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 event:
                   type: string
                 settling_time:
                   type: string
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 time:
                   type: string
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -327,16 +338,26 @@ separator.homemade:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -346,12 +367,19 @@ separator.homemade:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -381,17 +409,10 @@ separator.homemade:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - time
-              - event
-              - time_spec
-              - stir_time
-              - stir_speed
-              - settling_time
               title: Stir_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -399,10 +420,6 @@ separator.homemade:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: Stir_Result
               type: object
           required:
@@ -418,36 +435,34 @@ separator.homemade:
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/post_process_station.yaml

@@ -28,31 +28,6 @@ post_process_station:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_cache_stats:
         feedback: {}
         goal: {}
@@ -104,42 +79,41 @@ post_process_station:
           type: object
         type: UniLabJsonCommand
       disconnect:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: {}
+          command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -149,42 +123,41 @@ post_process_station:
         type: SendCmd
       read_node:
         feedback:
-          result: result
+          status: status
         goal:
-          command: node_name
+          command: command
+          node_name: node_name
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -283,17 +256,19 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessTriggerClean_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 acetone_inner_wall_cleaning_count:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 acetone_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -304,6 +279,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -322,6 +299,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -348,6 +327,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -358,6 +339,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -376,6 +359,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -394,6 +379,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -404,6 +391,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -422,6 +411,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -431,55 +422,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - nmp_outer_wall_cleaning_injection
-              - nmp_outer_wall_cleaning_count
-              - nmp_outer_wall_cleaning_wait_time
-              - nmp_outer_wall_cleaning_waste_time
-              - nmp_inner_wall_cleaning_injection
-              - nmp_inner_wall_cleaning_count
-              - nmp_pump_cleaning_suction_count
-              - nmp_inner_wall_cleaning_waste_time
-              - nmp_stirrer_cleaning_injection
-              - nmp_stirrer_cleaning_count
-              - nmp_stirrer_cleaning_wait_time
-              - nmp_stirrer_cleaning_waste_time
-              - water_outer_wall_cleaning_injection
-              - water_outer_wall_cleaning_count
-              - water_outer_wall_cleaning_wait_time
-              - water_outer_wall_cleaning_waste_time
-              - water_inner_wall_cleaning_injection
-              - water_inner_wall_cleaning_count
-              - water_pump_cleaning_suction_count
-              - water_inner_wall_cleaning_waste_time
-              - water_stirrer_cleaning_injection
-              - water_stirrer_cleaning_count
-              - water_stirrer_cleaning_wait_time
-              - water_stirrer_cleaning_waste_time
-              - acetone_outer_wall_cleaning_injection
-              - acetone_outer_wall_cleaning_count
-              - acetone_outer_wall_cleaning_wait_time
-              - acetone_outer_wall_cleaning_waste_time
-              - acetone_inner_wall_cleaning_injection
-              - acetone_inner_wall_cleaning_count
-              - acetone_pump_cleaning_suction_count
-              - acetone_inner_wall_cleaning_waste_time
-              - acetone_stirrer_cleaning_injection
-              - acetone_stirrer_cleaning_count
-              - acetone_stirrer_cleaning_wait_time
-              - acetone_stirrer_cleaning_waste_time
-              - pipe_blowing_time
-              - injection_pump_forward_empty_suction_count
-              - injection_pump_reverse_empty_suction_count
-              - filtration_liquid_selection
               title: PostProcessTriggerClean_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerClean_Result
               type: object
           required:
@@ -502,11 +451,11 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessGrab_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 raw_tank_number:
                   maximum: 2147483647
@@ -516,17 +465,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - reaction_tank_number
-              - raw_tank_number
               title: PostProcessGrab_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessGrab_Result
               type: object
           required:
@@ -573,13 +518,15 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessTriggerPostPro_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 atomization_fast_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 atomization_pressure_kpa:
                   maximum: 2147483647
@@ -594,8 +541,12 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 first_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 initial_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 injection_pump_push_speed:
                   maximum: 2147483647
@@ -622,32 +573,20 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 second_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 wash_slow_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - atomization_fast_speed
-              - wash_slow_speed
-              - injection_pump_suction_speed
-              - injection_pump_push_speed
-              - raw_liquid_suction_count
-              - first_wash_water_amount
-              - second_wash_water_amount
-              - first_powder_mixing_tim
-              - second_powder_mixing_time
-              - first_powder_wash_count
-              - second_powder_wash_count
-              - initial_water_amount
-              - pre_filtration_mixing_time
-              - atomization_pressure_kpa
               title: PostProcessTriggerPostPro_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerPostPro_Result
               type: object
           required:
@@ -669,30 +608,26 @@ post_process_station:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -702,8 +637,7 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      cache_stats: dict
-      node_value: String
+      cache_stats: Dict[str, Any]
     type: python
   config_info: []
   description: 后处理站
@@ -718,7 +652,9 @@ post_process_station:
         config_path:
           type: string
         deck:
-          type: string
+          anyOf:
+          - type: object
+          - type: object
         password:
           type: string
         subscription_interval:
@@ -738,10 +674,7 @@ post_process_station:
       properties:
         cache_stats:
           type: object
-        node_value:
-          type: string
       required:
-      - node_value
       - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/pump_and_valve.yaml

@@ -136,36 +136,36 @@ solenoid_valve:
       set_valve_position:
         feedback: {}
         goal:
-          string: position
+          position: position
+          string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -278,26 +278,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -310,26 +309,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
-      velocity_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
-      velocity_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -13,12 +13,13 @@ reaction_station.bioyond:
           start_point: start_point
           start_step_key: start_step_key
         goal_default:
-          duration: 0
+          duration: null
           end_point: 0
           end_step_key: ''
           start_point: 0
           start_step_key: ''
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -30,23 +31,19 @@ reaction_station.bioyond:
                   description: 时间(秒)
                   type: integer
                 end_point:
-                  default: Start
+                  default: 0
                   description: 终点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 end_step_key:
+                  default: ''
                   description: 终点步骤Key (可选, 默认为空则自动选择)
                   type: string
                 start_point:
-                  default: Start
+                  default: 0
                   description: 起点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
+                  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)
                   type: string
               required:
@@ -98,7 +95,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_order参数
@@ -125,7 +123,8 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -150,7 +149,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -175,7 +175,8 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -200,7 +201,12 @@ reaction_station.bioyond:
               required:
               - web_workflow_json
               type: object
-            result: {}
+            result:
+              items:
+                additionalProperties:
+                  type: string
+                type: object
+              type: array
           required:
           - goal
           title: process_web_workflows参数
@@ -229,7 +235,8 @@ reaction_station.bioyond:
               - reactor_id
               - temperature
               type: object
-            result: {}
+            result:
+              type: string
           required:
           - goal
           title: set_reactor_temperature参数
@@ -254,7 +261,8 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: skip_titration_steps参数
@@ -275,7 +283,8 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: sync_workflow_sequence_from_bioyond参数
@@ -307,7 +316,8 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_multiple_orders_and_get_reports参数
@@ -359,7 +369,8 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_step_query参数
@@ -370,9 +381,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          code: code
-          message: message
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 清空服务端所有非核心工作流 (保留核心流程)
           properties:
@@ -382,13 +392,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功)
-                  type: integer
-                message:
-                  description: 结果描述
-                  type: string
               type: object
           required:
           - goal
@@ -405,13 +408,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '90'
+          titration_type: '1'
+          torque_variation: 2
+          volume: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 滴回去
@@ -423,33 +427,27 @@ reaction_station.bioyond:
                   description: 物料名称（不能为空）
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '90'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 2
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液公式(mL)
                   type: string
               required:
-              - volume
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              - volume
               type: object
             result: {}
           required:
@@ -462,7 +460,7 @@ reaction_station.bioyond:
         goal:
           batch_reports_result: batch_reports_result
         goal_default:
-          batch_reports_result: ''
+          batch_reports_result: null
         handles:
           input:
           - data_key: batch_reports_result
@@ -478,8 +476,8 @@ reaction_station.bioyond:
             handler_key: ACTUALS_EXTRACTED
             io_type: sink
             label: Extracted Actuals
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
           properties:
@@ -493,13 +491,6 @@ reaction_station.bioyond:
               - batch_reports_result
               type: object
             result:
-              properties:
-                return_info:
-                  description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
-                    actualVolume
-                  type: string
-              required:
-              - return_info
               title: extract_actuals_from_batch_reports结果
               type: object
           required:
@@ -517,13 +508,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: BAPP
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          volume: '350'
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料烧杯
@@ -532,36 +524,30 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
+                  default: BAPP
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
+                  default: '350'
                   description: 分液公式(mL)
                   type: string
-              required:
-              - volume
-              - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              required: []
               type: object
             result: {}
           required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          solvents: ''
-          temperature: '25.00'
+          assign_material_name: null
+          solvents: null
+          temperature: 25.0
           time: '360'
           titration_type: '1'
-          torque_variation: '2'
-          volume: ''
+          torque_variation: 2
+          volume: null
         handles:
           input:
           - data_key: solvents
@@ -595,6 +581,7 @@ reaction_station.bioyond:
             handler_key: solvents
             io_type: source
             label: Solvents Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -609,27 +596,21 @@ reaction_station.bioyond:
                   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'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '360'
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: 'NO'
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是),默认NO
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
@@ -655,15 +636,15 @@ reaction_station.bioyond:
           volume_formula: volume_formula
           x_value: x_value
         goal_default:
-          assign_material_name: ''
-          extracted_actuals: ''
-          feeding_order_data: ''
-          temperature: '25.00'
+          assign_material_name: null
+          extracted_actuals: null
+          feeding_order_data: null
+          temperature: 25.0
           time: '90'
           titration_type: '2'
-          torque_variation: '2'
-          volume_formula: ''
-          x_value: ''
+          torque_variation: 2
+          volume_formula: null
+          x_value: null
         handles:
           input:
           - data_key: extracted_actuals
@@ -678,6 +659,7 @@ reaction_station.bioyond:
             handler_key: feeding_order
             io_type: source
             label: Feeding Order Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -696,27 +678,21 @@ reaction_station.bioyond:
                     {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '90'
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: 'YES'
+                  default: '2'
                   description: 是否滴定(NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  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
                   type: string
@@ -742,13 +718,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume_formula: volume_formula
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume_formula: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          volume_formula: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料小瓶(非滴定)
@@ -760,33 +737,27 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume_formula:
                   description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -800,9 +771,10 @@ reaction_station.bioyond:
           task_name: task_name
           workflow_name: workflow_name
         goal_default:
-          task_name: ''
-          workflow_name: ''
+          task_name: null
+          workflow_name: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 处理并执行工作流
@@ -820,7 +792,8 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -833,10 +806,11 @@ reaction_station.bioyond:
           cutoff: cutoff
           temperature: temperature
         goal_default:
-          assign_material_name: ''
-          cutoff: ''
-          temperature: ''
+          assign_material_name: null
+          cutoff: '900000'
+          temperature: -10.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -848,14 +822,14 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 cutoff:
+                  default: '900000'
                   description: 粘度上限
                   type: string
                 temperature:
+                  default: -10.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
               required:
-              - cutoff
-              - temperature
               - assign_material_name
               type: object
             result: {}
@@ -869,6 +843,7 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -878,15 +853,7 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功,0表示失败)
-                  type: integer
-                return_info:
-                  description: 操作结果详细信息
-                  type: string
-              type: object
+            result: {}
           required:
           - goal
           title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
           properties:
@@ -908,12 +875,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -930,12 +891,13 @@ reaction_station.bioyond:
           time: time
           torque_variation: torque_variation
         goal_default:
-          assign_material_name: ''
-          material_id: ''
-          temperature: ''
-          time: ''
-          torque_variation: ''
+          assign_material_name: null
+          material_id: null
+          temperature: 25.0
+          time: '0'
+          torque_variation: 1
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -948,29 +910,21 @@ reaction_station.bioyond:
                   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）
-                  enum:
-                  - Salt
-                  - Flour
-                  - BTDA
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
               required:
-              - assign_material_name
               - material_id
-              - time
-              - torque_variation
-              - temperature
               type: object
             result: {}
           required:

unilabos/registry/devices/robot_agv.yaml

@@ -37,42 +37,41 @@ agv.SEER:
           type: object
         type: UniLabJsonCommand
       send_nav_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/robot_arm.yaml

@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
           type: object
         type: UniLabJsonCommand
       move_pos_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
           type: string
       required:
       - arm_pose
-      - gripper_pose
       - arm_status
+      - gripper_pose
       - gripper_status
       type: object
   version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
           type: object
         type: UniLabJsonCommand
       modbus_task_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
         type: SendCmd
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
-      actual_joint_positions: String
-      arm_pose: String
+      actual_joint_positions: ''
+      arm_pose: list[float]
     type: python
   config_info: []
   description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
             type: number
           type: array
       required:
-      - arm_pose
       - actual_joint_positions
+      - arm_pose
       type: object
   model:
     mesh: elite_robot

unilabos/registry/devices/robot_gripper.yaml

@@ -114,11 +114,12 @@ gripper.misumi_rz:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -398,30 +399,26 @@ gripper.misumi_rz:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -504,71 +501,82 @@ gripper.mock:
         type: UniLabJsonCommand
       push_to:
         feedback:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         goal:
-          command.max_effort: torque
-          command.position: position
+          command: command
+          position: position
+          torque: torque
+          velocity: velocity
         goal_default:
           command:
             max_effort: 0.0
             position: 0.0
         handles: {}
+        placeholder_keys: {}
         result:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
+                  additionalProperties: false
                   properties:
                     max_effort:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                     position:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                   required:
                   - position
                   - max_effort
                   title: command
                   type: object
-              required:
-              - command
               title: GripperCommand_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Result
               type: object
           required:
@@ -604,8 +612,8 @@ gripper.mock:
           type: number
       required:
       - position
-      - velocity
-      - torque
       - status
+      - torque
+      - velocity
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -24,6 +24,27 @@ linear_motion.grbl:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_position:
         feedback: {}
         goal: {}
@@ -93,44 +114,39 @@ linear_motion.grbl:
         type: UniLabJsonCommandAsync
       move_through_points:
         feedback:
-          current_pose.pose.position: position
-          estimated_time_remaining.sec: time_remaining
-          navigation_time.sec: time_spent
-          number_of_poses_remaining: pose_number_remaining
+          current_pose: current_pose
+          distance_remaining: distance_remaining
+          estimated_time_remaining: estimated_time_remaining
+          navigation_time: navigation_time
+          number_of_poses_remaining: number_of_poses_remaining
+          number_of_recoveries: number_of_recoveries
         goal:
-          poses[].pose.position: positions[]
+          behavior_tree: behavior_tree
+          poses: poses
+          positions: positions
         goal_default:
           behavior_tree: ''
-          poses:
-          - header:
-              frame_id: ''
-              stamp:
-                nanosec: 0
-                sec: 0
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
+          poses: []
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          result: result
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 current_pose:
+                  additionalProperties: false
                   properties:
                     header:
+                      additionalProperties: false
                       properties:
                         frame_id:
                           type: string
                         stamp:
+                          additionalProperties: false
                           properties:
                             nanosec:
                               maximum: 4294967295
@@ -151,16 +167,26 @@ linear_motion.grbl:
                       title: header
                       type: object
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -170,12 +196,19 @@ linear_motion.grbl:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -194,8 +227,11 @@ linear_motion.grbl:
                   title: current_pose
                   type: object
                 distance_remaining:
+                  maximum: 3.4028235e+38
+                  minimum: -3.4028235e+38
                   type: number
                 estimated_time_remaining:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -211,6 +247,7 @@ linear_motion.grbl:
                   title: estimated_time_remaining
                   type: object
                 navigation_time:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -233,16 +270,10 @@ linear_motion.grbl:
                   maximum: 32767
                   minimum: -32768
                   type: integer
-              required:
-              - current_pose
-              - navigation_time
-              - estimated_time_remaining
-              - number_of_recoveries
-              - distance_remaining
-              - number_of_poses_remaining
               title: NavigateThroughPoses_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 behavior_tree:
                   type: string
@@ -256,12 +287,8 @@ linear_motion.grbl:
                           stamp:
                             properties:
                               nanosec:
-                                maximum: 4294967295
-                                minimum: 0
                                 type: integer
                               sec:
-                                maximum: 2147483647
-                                minimum: -2147483648
                                 type: integer
                             required:
                             - sec
@@ -314,23 +341,17 @@ linear_motion.grbl:
                     required:
                     - header
                     - pose
-                    title: poses
                     type: object
                   type: array
-              required:
-              - poses
-              - behavior_tree
               title: NavigateThroughPoses_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 result:
-                  properties: {}
-                  required: []
+                  additionalProperties: true
                   title: result
                   type: object
-              required:
-              - result
               title: NavigateThroughPoses_Result
               type: object
           required:
@@ -340,9 +361,15 @@ linear_motion.grbl:
         type: NavigateThroughPoses
       set_spindle_speed:
         feedback:
-          position: spindle_speed
+          error: error
+          header: header
+          position: position
+          velocity: velocity
         goal:
-          position: spindle_speed
+          max_velocity: max_velocity
+          min_duration: min_duration
+          position: position
+          spindle_speed: spindle_speed
         goal_default:
           max_velocity: 0.0
           min_duration:
@@ -350,19 +377,25 @@ linear_motion.grbl:
             sec: 0
           position: 0.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 error:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 header:
+                  additionalProperties: false
                   properties:
                     frame_id:
                       type: string
                     stamp:
+                      additionalProperties: false
                       properties:
                         nanosec:
                           maximum: 4294967295
@@ -383,21 +416,24 @@ linear_motion.grbl:
                   title: header
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - header
-              - position
-              - velocity
-              - error
               title: SingleJointPosition_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 max_velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 min_duration:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -413,16 +449,13 @@ linear_motion.grbl:
                   title: min_duration
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - position
-              - min_duration
-              - max_velocity
               title: SingleJointPosition_Goal
               type: object
             result:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: SingleJointPosition_Result
               type: object
           required:
@@ -432,7 +465,7 @@ linear_motion.grbl:
         type: SingleJointPosition
     module: unilabos.devices.cnc.grbl_sync:GrblCNC
     status_types:
-      position: unilabos.messages:Point3D
+      position: Point3D
       spindle_speed: float
       status: str
     type: python
@@ -471,9 +504,9 @@ linear_motion.grbl:
         status:
           type: string
       required:
-      - status
       - position
       - spindle_speed
+      - status
       type: object
   version: 1.0.0
 linear_motion.toyo_xyz.sim:
@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -939,30 +947,26 @@ motor.iCL42:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -1000,8 +1004,8 @@ motor.iCL42:
         success:
           type: boolean
       required:
-      - motor_position
       - is_executing_run
+      - motor_position
       - success
       type: object
   version: 1.0.0