Merge pull request #255 from ALITTLELZ/labwaresize

新增 tip_above_rack_length 参数并更新枪头尺寸

.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

.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

@@ -4,6 +4,8 @@ temp/
 output/
 unilabos_data/
 pyrightconfig.json
+.cursorignore
+device_package*/
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -250,3 +252,5 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 test_config.py
 
 
+/.claude
+/.cursor

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 +1,124 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Build & Development
+
+```bash
+# Install (requires mamba env with python 3.11)
+mamba create -n unilab python=3.11.14
+mamba activate unilab
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+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 (AST-based)
+unilab --skip_env_check                   # skip auto-install of dependencies
+unilab --visual rviz|web|disable          # visualization mode
+unilab --is_slave                         # run as slave node
+unilab --restart_mode                     # auto-restart on config changes (supervisor/child process)
+unilab --external_devices_only            # only load external device packages
+unilab --extra_resource                   # load extra lab_ prefixed labware resources
+
+# Workflow upload subcommand
+unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
+
+# Labware Manager (standalone web UI for PRCXI labware CRUD, port 8010)
+python -m unilabos.labware_manager
+
+# 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
+
+# CI check (matches .github/workflows/ci-check.yml)
+python -m unilabos --check_mode --skip_env_check
+
+# If registry YAML/Python files changed, regenerate before committing:
+python -m unilabos --complete_registry
+
+# Documentation build
+cd docs && python -m sphinx -b html . _build/html -v
+```
+
+## Architecture
+
+### Startup Flow
+
+`unilab` CLI (entry point in `setup.py`) → `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. Two registration mechanisms:
+1. **YAML definitions** in `registry/devices/*.yaml` and `registry/resources/` (backward-compatible)
+2. **Python decorators** (`@device`, `@action`, `@resource` in `registry/decorators.py`) — preferred for new code
+
+AST scanning (`ast_registry_scanner.py`) discovers decorated classes without importing them, so `--check_mode` works without hardware dependencies. Class paths resolved to Python classes at runtime via `utils/import_manager.py`.
+
+Decorator usage pattern:
+```python
+from unilabos.registry.decorators import device, action, resource
+from unilabos.registry.decorators import InputHandle, OutputHandle, HardwareInterface
+
+@device(id="my_device.v1", category=["category_name"], handles=[...])
+class MyDevice:
+    @action(action_type=SomeActionType)
+    def do_something(self): ...
+```
+
+**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. Graph I/O in `resources/graphio.py` reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`.
+
+**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by category (liquid_handling, hplc, balance, arm, etc.). Each driver class gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` into a `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`) with publishers, subscribers, and action servers.
+
+**ROS2 Layer** (`unilabos/ros/`): Preset node types in `ros/nodes/presets/` — `host_node` (main orchestrator, ~90KB), `controller_node`, `workstation`, `serial_node`, `camera`, `resource_mesh_manager`. Custom messages in `unilabos_msgs/` (80+ action types, pre-built via conda `ros-humble-unilabos-msgs`).
+
+**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) registered in `__init__.py:action_protocol_generators` dict. Utility parsers in `compile/utils/` (vessel, unit, logger).
+
+**Workflow** (`unilabos/workflow/`): Converts workflow definitions from multiple formats — JSON (`convert_from_json.py`, `common.py`), Python scripts (`from_python_script.py`), XDL (`from_xdl.py`) — into executable `WorkflowGraph`. Legacy converters in `workflow/legacy/`.
+
+**Communication** (`unilabos/device_comms/`): Hardware adapters — OPC-UA, Modbus PLC, RPC, universal driver. `app/communication.py` provides factory pattern for WebSocket connections.
+
+**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 templates (`pages.py`), HTTP client (`client.py`). Default port 8002.
+
+**Labware Manager** (`unilabos/labware_manager/`): Standalone FastAPI web app (port 8010) for PRCXI labware CRUD. Pydantic models in `models.py`, JSON database in `labware_db.json`. Supports importing from existing Python/YAML (`importer.py`), code generation (`codegen.py`), and YAML generation (`yaml_gen.py`). Web UI with SVG visualization (`static/labware_viz.js`), dynamic form handling (`static/form_handler.js`), and Jinja2 templates.
+
+### Configuration System
+
+- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — class-level attributes, loaded from Python `.py` config files (see `config/example_config.py`)
+- Environment variable overrides with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
+- Device topology defined in graph files (JSON 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
+- No linter/formatter configuration enforced (no ruff, black, flake8, mypy configs)
+- Documentation built with Sphinx (Chinese language, `sphinx_rtd_theme`, `myst_parser`)
+- CI runs on Windows (`windows-latest`); if registry files change, run `python -m unilabos --complete_registry` locally before committing
+
+## Licensing
+
+- Framework code: GPL-3.0
+- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute

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'],

test/devices/test_prcxi.py

@@ -0,0 +1,539 @@
+import pytest
+import json
+import os
+import asyncio
+import collections
+from typing import List, Dict, Any
+
+from pylabrobot.resources import Coordinate
+from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul, opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import (
+    PRCXI9300Deck,
+    PRCXI9300Container,
+    PRCXI9300Trash,
+    PRCXI9300Handler,
+    PRCXI9300Backend,
+    DefaultLayout,
+    Material,
+    WorkTablets,
+    MatrixInfo
+)
+
+
+@pytest.fixture
+def prcxi_materials() -> Dict[str, Any]:
+    """加载 PRCXI 物料数据"""
+    print("加载 PRCXI 物料数据...")
+    material_path = os.path.join(os.path.dirname(__file__), "..", "..", "unilabos", "devices", "liquid_handling", "prcxi", "prcxi_material.json")
+    with open(material_path, "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def prcxi_9300_deck() -> PRCXI9300Deck:
+    """创建 PRCXI 9300 工作台"""
+    return PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100, model="9300")
+
+
+@pytest.fixture
+def prcxi_9320_deck() -> PRCXI9300Deck:
+    """创建 PRCXI 9320 工作台"""
+    return PRCXI9300Deck(name="PRCXI_Deck_9320", size_x=100, size_y=100, size_z=100, model="9320")
+
+
+@pytest.fixture
+def prcxi_9300_handler(prcxi_9300_deck) -> PRCXI9300Handler:
+    """创建 PRCXI 9300 处理器（模拟模式）"""
+    return PRCXI9300Handler(
+        deck=prcxi_9300_deck,
+        host="192.168.1.201",
+        port=9999,
+        timeout=10.0,
+        channel_num=8,
+        axis="Left",
+        setup=False,
+        debug=True,
+        simulator=True,
+        matrix_id="test-matrix-9300"
+    )
+
+
+@pytest.fixture
+def prcxi_9320_handler(prcxi_9320_deck) -> PRCXI9300Handler:
+    """创建 PRCXI 9320 处理器（模拟模式）"""
+    return PRCXI9300Handler(
+        deck=prcxi_9320_deck,
+        host="192.168.1.201",
+        port=9999,
+        timeout=10.0,
+        channel_num=1,
+        axis="Right",
+        setup=False,
+        debug=True,
+        simulator=True,
+        matrix_id="test-matrix-9320",
+        is_9320=True
+    )
+
+
+@pytest.fixture
+def tip_rack_300ul(prcxi_materials) -> PRCXI9300Container:
+    """创建 300μL 枪头盒"""
+    tip_rack = PRCXI9300Container(
+        name="tip_rack_300ul",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict()
+    )
+    tip_rack.load_state({
+        "Material": {
+            "uuid": prcxi_materials["300μL Tip头"]["uuid"],
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头"
+        }
+    })
+    return tip_rack
+
+
+@pytest.fixture
+def tip_rack_10ul(prcxi_materials) -> PRCXI9300Container:
+    """创建 10μL 枪头盒"""
+    tip_rack = PRCXI9300Container(
+        name="tip_rack_10ul",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict()
+    )
+    tip_rack.load_state({
+        "Material": {
+            "uuid": prcxi_materials["10μL加长 Tip头"]["uuid"],
+            "Code": "ZX-001-10+",
+            "Name": "10μL加长 Tip头"
+        }
+    })
+    return tip_rack
+
+
+@pytest.fixture
+def well_plate_96(prcxi_materials) -> PRCXI9300Container:
+    """创建 96 孔板"""
+    plate = PRCXI9300Container(
+        name="well_plate_96",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="plate",
+        ordering=collections.OrderedDict()
+    )
+    plate.load_state({
+        "Material": {
+            "uuid": prcxi_materials["96深孔板"]["uuid"],
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    return plate
+
+
+@pytest.fixture
+def deep_well_plate(prcxi_materials) -> PRCXI9300Container:
+    """创建深孔板"""
+    plate = PRCXI9300Container(
+        name="deep_well_plate",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="plate",
+        ordering=collections.OrderedDict()
+    )
+    plate.load_state({
+        "Material": {
+            "uuid": prcxi_materials["96深孔板"]["uuid"],
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    return plate
+
+
+@pytest.fixture
+def trash_container(prcxi_materials) -> PRCXI9300Trash:
+    """创建垃圾桶"""
+    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+    trash.load_state({
+        "Material": {
+            "uuid": prcxi_materials["废弃槽"]["uuid"]
+        }
+    })
+    return trash
+
+
+@pytest.fixture
+def default_layout_9300() -> DefaultLayout:
+    """创建 PRCXI 9300 默认布局"""
+    return DefaultLayout("PRCXI9300")
+
+
+@pytest.fixture
+def default_layout_9320() -> DefaultLayout:
+    """创建 PRCXI 9320 默认布局"""
+    return DefaultLayout("PRCXI9320")
+
+
+class TestPRCXIDeckSetup:
+    """测试 PRCXI 工作台设置功能"""
+
+    def test_prcxi_9300_deck_creation(self, prcxi_9300_deck):
+        """测试 PRCXI 9300 工作台创建"""
+        assert prcxi_9300_deck.name == "PRCXI_Deck_9300"
+        assert len(prcxi_9300_deck.sites) == 6
+        assert prcxi_9300_deck._size_x == 100
+        assert prcxi_9300_deck._size_y == 100
+        assert prcxi_9300_deck._size_z == 100
+
+    def test_prcxi_9320_deck_creation(self, prcxi_9320_deck):
+        """测试 PRCXI 9320 工作台创建"""
+        assert prcxi_9320_deck.name == "PRCXI_Deck_9320"
+        assert len(prcxi_9320_deck.sites) == 16
+        assert prcxi_9320_deck._size_x == 100
+        assert prcxi_9320_deck._size_y == 100
+        assert prcxi_9320_deck._size_z == 100
+
+    def test_container_assignment(self, prcxi_9300_deck, tip_rack_300ul, well_plate_96, trash_container):
+        """测试容器分配到工作台"""
+        # 分配枪头盒
+        prcxi_9300_deck.assign_child_resource(tip_rack_300ul, location=Coordinate(0, 0, 0))
+        assert tip_rack_300ul in prcxi_9300_deck.children
+        
+        # 分配孔板
+        prcxi_9300_deck.assign_child_resource(well_plate_96, location=Coordinate(0, 0, 0))
+        assert well_plate_96 in prcxi_9300_deck.children
+        
+        # 分配垃圾桶
+        prcxi_9300_deck.assign_child_resource(trash_container, location=Coordinate(0, 0, 0))
+        assert trash_container in prcxi_9300_deck.children
+
+    def test_container_material_loading(self, tip_rack_300ul, well_plate_96, prcxi_materials):
+        """测试容器物料信息加载"""
+        # 测试枪头盒物料信息
+        tip_material = tip_rack_300ul._unilabos_state["Material"]
+        assert tip_material["uuid"] == prcxi_materials["300μL Tip头"]["uuid"]
+        assert tip_material["Name"] == "300μL Tip头"
+        
+        # 测试孔板物料信息
+        plate_material = well_plate_96._unilabos_state["Material"]
+        assert plate_material["uuid"] == prcxi_materials["96深孔板"]["uuid"]
+        assert plate_material["Name"] == "96深孔板"
+
+
+class TestPRCXISingleStepOperations:
+    """测试 PRCXI 单步操作功能"""
+
+    @pytest.mark.asyncio
+    async def test_pick_up_tips_single_channel(self, prcxi_9320_handler, prcxi_9320_deck, tip_rack_10ul):
+        """测试单通道拾取枪头"""
+        # 将枪头盒添加到工作台
+        prcxi_9320_deck.assign_child_resource(tip_rack_10ul, location=Coordinate(0, 0, 0))
+        
+        # 初始化处理器
+        await prcxi_9320_handler.setup()
+        
+        # 设置枪头盒
+        prcxi_9320_handler.set_tiprack([tip_rack_10ul])
+        
+        # 创建模拟的枪头位置
+        from pylabrobot.resources import TipSpot, Tip
+        tip = Tip(has_filter=False, total_tip_length=10, maximal_volume=10, fitting_depth=5)
+        tip_spot = TipSpot("A1", size_x=1, size_y=1, size_z=1, make_tip=lambda: tip)
+        tip_rack_10ul.assign_child_resource(tip_spot, location=Coordinate(0, 0, 0))
+        
+        # 直接测试后端方法
+        from pylabrobot.liquid_handling import Pickup
+        pickup = Pickup(resource=tip_spot, offset=None, tip=tip)
+        await prcxi_9320_handler._unilabos_backend.pick_up_tips([pickup], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Load"
+
+    @pytest.mark.asyncio
+    async def test_pick_up_tips_multi_channel(self, prcxi_9300_handler, tip_rack_300ul):
+        """测试多通道拾取枪头"""
+        # 设置枪头盒
+        prcxi_9300_handler.set_tiprack([tip_rack_300ul])
+        
+        # 拾取8个枪头
+        tip_spots = tip_rack_300ul.children[:8]
+        await prcxi_9300_handler.pick_up_tips(tip_spots, [0, 1, 2, 3, 4, 5, 6, 7])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9300_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9300_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Load"
+
+    @pytest.mark.asyncio
+    async def test_aspirate_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道吸取液体"""
+        # 设置液体
+        well = well_plate_96.get_item("A1")
+        prcxi_9320_handler.set_liquid([well], ["water"], [50])
+        
+        # 吸取液体
+        await prcxi_9320_handler.aspirate([well], [50], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Imbibing"
+        assert step["DosageNum"] == 50
+
+    @pytest.mark.asyncio
+    async def test_dispense_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道分配液体"""
+        # 分配液体
+        well = well_plate_96.get_item("A1")
+        await prcxi_9320_handler.dispense([well], [25], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Tapping"
+        assert step["DosageNum"] == 25
+
+    @pytest.mark.asyncio
+    async def test_mix_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道混合液体"""
+        # 混合液体
+        well = well_plate_96.get_item("A1")
+        await prcxi_9320_handler.mix([well], mix_time=3, mix_vol=50)
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Blending"
+        assert step["BlendingTimes"] == 3
+        assert step["DosageNum"] == 50
+
+    @pytest.mark.asyncio
+    async def test_drop_tips_to_trash(self, prcxi_9320_handler, trash_container):
+        """测试丢弃枪头到垃圾桶"""
+        # 丢弃枪头
+        await prcxi_9320_handler.drop_tips([trash_container], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "UnLoad"
+
+    @pytest.mark.asyncio
+    async def test_discard_tips(self, prcxi_9320_handler):
+        """测试丢弃枪头"""
+        # 丢弃枪头
+        await prcxi_9320_handler.discard_tips([0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "UnLoad"
+
+    @pytest.mark.asyncio
+    async def test_liquid_transfer_workflow(self, prcxi_9320_handler, tip_rack_10ul, well_plate_96):
+        """测试完整的液体转移工作流程"""
+        # 设置枪头盒和液体
+        prcxi_9320_handler.set_tiprack([tip_rack_10ul])
+        source_well = well_plate_96.get_item("A1")
+        target_well = well_plate_96.get_item("B1")
+        prcxi_9320_handler.set_liquid([source_well], ["water"], [100])
+        
+        # 创建协议
+        await prcxi_9320_handler.create_protocol(protocol_name="Test Transfer Protocol")
+        
+        # 执行转移流程
+        tip_spot = tip_rack_10ul.get_item("A1")
+        await prcxi_9320_handler.pick_up_tips([tip_spot], [0])
+        await prcxi_9320_handler.aspirate([source_well], [50], [0])
+        await prcxi_9320_handler.dispense([target_well], [50], [0])
+        await prcxi_9320_handler.discard_tips([0])
+        
+        # 验证所有步骤都已添加
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 4
+        functions = [step["Function"] for step in prcxi_9320_handler._unilabos_backend.steps_todo_list]
+        assert functions == ["Load", "Imbibing", "Tapping", "UnLoad"]
+
+
+class TestPRCXILayoutRecommendation:
+    """测试 PRCXI 板位推荐功能"""
+
+    def test_9300_layout_creation(self, default_layout_9300):
+        """测试 PRCXI 9300 布局创建"""
+        layout_info = default_layout_9300.get_layout()
+        assert layout_info["rows"] == 2
+        assert layout_info["columns"] == 3
+        assert len(layout_info["layout"]) == 6
+        assert layout_info["trash_slot"] == 6
+        assert "waste_liquid_slot" not in layout_info
+
+    def test_9320_layout_creation(self, default_layout_9320):
+        """测试 PRCXI 9320 布局创建"""
+        layout_info = default_layout_9320.get_layout()
+        assert layout_info["rows"] == 4
+        assert layout_info["columns"] == 4
+        assert len(layout_info["layout"]) == 16
+        assert layout_info["trash_slot"] == 16
+        assert layout_info["waste_liquid_slot"] == 12
+
+    def test_layout_recommendation_9320(self, default_layout_9320, prcxi_materials):
+        """测试 PRCXI 9320 板位推荐功能"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 推荐布局
+        needs = [
+            ("reagent_1", "96 细胞培养皿", 3),
+            ("reagent_2", "12道储液槽", 1),
+            ("reagent_3", "200μL Tip头", 7),
+            ("reagent_4", "10μL加长 Tip头", 1),
+        ]
+        
+        matrix_layout, layout_list = default_layout_9320.recommend_layout(needs)
+        
+        # 验证返回结果
+        assert "MatrixId" in matrix_layout
+        assert "MatrixName" in matrix_layout
+        assert "MatrixCount" in matrix_layout
+        assert "WorkTablets" in matrix_layout
+        assert len(layout_list) == 12  # 3+1+7+1 = 12个位置
+        
+        # 验证推荐的位置不包含预留位置
+        reserved_positions = {12, 16}
+        recommended_positions = [item["positions"] for item in layout_list]
+        for pos in recommended_positions:
+            assert pos not in reserved_positions
+
+    def test_layout_recommendation_insufficient_space(self, default_layout_9320, prcxi_materials):
+        """测试板位推荐空间不足的情况"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 尝试推荐超过可用空间的布局
+        needs = [
+            ("reagent_1", "96 细胞培养皿", 15),  # 需要15个位置，但只有14个可用
+        ]
+        
+        with pytest.raises(ValueError, match="需要 .* 个位置，但只有 .* 个可用位置"):
+            default_layout_9320.recommend_layout(needs)
+
+    def test_layout_recommendation_material_not_found(self, default_layout_9320, prcxi_materials):
+        """测试板位推荐物料不存在的情况"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 尝试推荐不存在的物料
+        needs = [
+            ("reagent_1", "不存在的物料", 1),
+        ]
+        
+        with pytest.raises(ValueError, match="Material .* not found in lab resources"):
+            default_layout_9320.recommend_layout(needs)
+
+
+class TestPRCXIBackendOperations:
+    """测试 PRCXI 后端操作功能"""
+
+    def test_backend_initialization(self, prcxi_9300_handler):
+        """测试后端初始化"""
+        backend = prcxi_9300_handler._unilabos_backend
+        assert isinstance(backend, PRCXI9300Backend)
+        assert backend._num_channels == 8
+        assert backend.debug is True
+
+    def test_protocol_creation(self, prcxi_9300_handler):
+        """测试协议创建"""
+        backend = prcxi_9300_handler._unilabos_backend
+        backend.create_protocol("Test Protocol")
+        assert backend.protocol_name == "Test Protocol"
+        assert len(backend.steps_todo_list) == 0
+
+    def test_channel_validation(self):
+        """测试通道验证"""
+        # 测试正确的8通道配置
+        valid_channels = [0, 1, 2, 3, 4, 5, 6, 7]
+        result = PRCXI9300Backend.check_channels(valid_channels)
+        assert result == valid_channels
+        
+        # 测试错误的通道配置
+        invalid_channels = [0, 1, 2, 3]
+        result = PRCXI9300Backend.check_channels(invalid_channels)
+        assert result == [0, 1, 2, 3, 4, 5, 6, 7]
+
+    def test_matrix_info_creation(self, prcxi_9300_handler):
+        """测试矩阵信息创建"""
+        backend = prcxi_9300_handler._unilabos_backend
+        backend.create_protocol("Test Protocol")
+        
+        # 模拟运行协议时的矩阵信息创建
+        run_time = 1234567890
+        matrix_info = MatrixInfo(
+            MatrixId=f"{int(run_time)}",
+            MatrixName=f"protocol_{run_time}",
+            MatrixCount=len(backend.tablets_info),
+            WorkTablets=backend.tablets_info,
+        )
+        
+        assert matrix_info["MatrixId"] == str(int(run_time))
+        assert matrix_info["MatrixName"] == f"protocol_{run_time}"
+        assert "WorkTablets" in matrix_info
+
+
+class TestPRCXIContainerOperations:
+    """测试 PRCXI 容器操作功能"""
+
+    def test_container_serialization(self, tip_rack_300ul):
+        """测试容器序列化"""
+        serialized = tip_rack_300ul.serialize_state()
+        assert "Material" in serialized
+        assert serialized["Material"]["Name"] == "300μL Tip头"
+
+    def test_container_deserialization(self, tip_rack_300ul):
+        """测试容器反序列化"""
+        # 序列化
+        serialized = tip_rack_300ul.serialize_state()
+        
+        # 创建新容器并反序列化
+        new_tip_rack = PRCXI9300Container(
+            name="new_tip_rack",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict()
+        )
+        new_tip_rack.load_state(serialized)
+        
+        assert new_tip_rack._unilabos_state["Material"]["Name"] == "300μL Tip头"
+
+    def test_trash_container_creation(self, prcxi_materials):
+        """测试垃圾桶容器创建"""
+        trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+        trash.load_state({
+            "Material": {
+                "uuid": prcxi_materials["废弃槽"]["uuid"]
+            }
+        })
+        
+        assert trash.name == "trash"
+        assert trash._unilabos_state["Material"]["uuid"] == prcxi_materials["废弃槽"]["uuid"]
+
+
+if __name__ == "__main__":
+    # 运行测试
+    pytest.main([__file__, "-v"])

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:
@@ -481,12 +621,16 @@ 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 +722,10 @@ 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

@@ -23,9 +23,10 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from jedi.inference.gradual.typing import TypedDict
+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
@@ -164,7 +165,7 @@ class DeviceActionManager:
             job_info.set_ready_timeout(10)  # 设置10秒超时
             self.active_jobs[device_key] = job_info
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -231,8 +232,9 @@ class DeviceActionManager:
                 job_info.update_timestamp()
                 # 从all_jobs中移除已结束的job
                 del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                pass
             else:
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                 logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -248,7 +250,7 @@ class DeviceActionManager:
                 next_job_log = format_job_log(
                     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                 )
-                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
@@ -302,7 +304,7 @@ class DeviceActionManager:
                 # 从all_jobs中移除
                 del self.all_jobs[job_id]
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
 
                 # 启动下一个任务
                 if device_key in self.device_queues and self.device_queues[device_key]:
@@ -315,7 +317,7 @@ class DeviceActionManager:
                     next_job_log = format_job_log(
                         next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -329,7 +331,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                     return True
 
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -407,6 +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}")
@@ -433,22 +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"""
@@ -465,8 +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}",
@@ -477,53 +491,72 @@ 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)
@@ -533,8 +566,12 @@ class MessageProcessor:
                     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')}")
+                        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:
@@ -543,12 +580,6 @@ class MessageProcessor:
                 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())
-
     async def _send_handler(self):
         """处理发送队列中的消息"""
         logger.trace("[MessageProcessor] Send handler started")
@@ -596,6 +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())
@@ -604,7 +636,7 @@ class MessageProcessor:
 
     async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
+        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -627,6 +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:
@@ -698,13 +734,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", False, 10
             )
-            logger.info(f"[MessageProcessor] Job {job_log} queued")
+            logger.trace(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -718,6 +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}")
@@ -911,9 +973,7 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(
-                        f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
-                    )
+                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -927,7 +987,9 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+        logger.trace(
+            f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
+        )
 
         # 为每个(device_id, action)创建独立的更新线程
         for (device_id, actual_action), items in device_action_groups.items():
@@ -963,6 +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
@@ -974,14 +1067,13 @@ 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
+
         main_module._restart_requested = True
         main_module._restart_reason = reason
 
@@ -991,10 +1083,12 @@ class MessageProcessor:
         # 在新线程中执行清理，避免阻塞当前事件循环
         def do_cleanup():
             import time
+
             time.sleep(0.5)  # 给当前消息处理完成的时间
             logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
             try:
                 from unilabos.app.utils import cleanup_for_restart
+
                 if cleanup_for_restart():
                     logger.info("[MessageProcessor] Cleanup successful, main() will restart")
                 else:
@@ -1077,6 +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")
@@ -1177,6 +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": {
@@ -1192,7 +1292,7 @@ class QueueProcessor:
             success = self.message_processor.send_message(message)
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
             if success:
-                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
             else:
                 logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
 
@@ -1215,7 +1315,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
 
         # 结束任务，获取下一个可执行的任务
         next_job = self.device_manager.end_job(job_id)
@@ -1235,8 +1335,8 @@ class QueueProcessor:
                 },
             }
             self.message_processor.send_message(message)
-            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
-            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
+            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
 
             # 立即触发下一轮状态检查
             self.notify_queue_update()
@@ -1325,8 +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)}")
 
@@ -1378,7 +1478,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
 
             # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
@@ -1445,7 +1545,9 @@ class WebSocketClient(BaseCommunicationClient):
             if host_node:
                 # 获取设备信息
                 for device_id, namespace in host_node.devices_names.items():
-                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    device_key = (
+                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
+                    )
                     is_online = device_key in host_node._online_devices
 
                     # 获取设备的动作信息
@@ -1459,14 +1561,16 @@ class WebSocketClient(BaseCommunicationClient):
                                 "action_type": str(type(client).__name__),
                             }
 
-                    devices.append({
+                    devices.append(
+                        {
                             "device_id": device_id,
                             "namespace": namespace,
                             "device_key": device_key,
                             "is_online": is_online,
                             "machine_name": host_node.device_machine_names.get(device_id, machine_name),
                             "actions": actions,
-                    })
+                        }
+                    )
 
                 logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
         except Exception as e:

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/device_mesh/resource_visalization.py

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

unilabos/devices/liquid_handling/prcxi/prcxi_modules.py

@@ -0,0 +1,150 @@
+from typing import Any, Dict, Optional
+
+from .prcxi import PRCXI9300ModuleSite
+
+
+class PRCXI9300FunctionalModule(PRCXI9300ModuleSite):
+    """
+    PRCXI 9300 功能模块基类（加热/冷却/震荡/加热震荡/磁吸等）。
+
+    设计目标：
+    - 作为一个可以在工作台上拖拽摆放的实体资源（继承自 PRCXI9300ModuleSite -> ItemizedCarrier）。
+    - 顶面存在一个站点（site），可吸附标准板类资源（plate / tip_rack / tube_rack 等）。
+    - 支持注入 `material_info` (UUID 等)，并且在 serialize_state 时做安全过滤。
+    """
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        module_type: Optional[str] = None,
+        category: str = "module",
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs: Any,
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            material_info=material_info,
+            model=model,
+            category=category,
+            **kwargs,
+        )
+
+        # 记录模块类型（加热 / 冷却 / 震荡 / 加热震荡 / 磁吸）
+        self.module_type = module_type or "generic"
+
+        # 与 PRCXI9300PlateAdapter 一致，使用 _unilabos_state 保存扩展信息
+        if not hasattr(self, "_unilabos_state") or self._unilabos_state is None:
+            self._unilabos_state = {}
+
+        # super().__init__ 已经在有 material_info 时写入 "Material"，这里仅确保存在
+        if material_info is not None and "Material" not in self._unilabos_state:
+            self._unilabos_state["Material"] = material_info
+
+        # 额外标记 category 和模块类型，便于前端或上层逻辑区分
+        self._unilabos_state.setdefault("category", category)
+        self._unilabos_state["module_type"] = module_type
+
+
+# ============================================================================
+# 具体功能模块定义
+# 这里的尺寸和 material_info 目前为占位参数，后续可根据实际测量/JSON 配置进行更新。
+# 顶面站点尺寸与模块外形一致，保证可以吸附标准 96 板/储液槽等。
+# ============================================================================
+
+
+def PRCXI_Heating_Module(name: str) -> PRCXI9300FunctionalModule:
+    """加热模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=40.0,
+        module_type="heating",
+        model="PRCXI_Heating_Module",
+        material_info={
+            "uuid": "TODO-HEATING-MODULE-UUID",
+            "Code": "HEAT-MOD",
+            "Name": "PRCXI 加热模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_MetalCooling_Module(name: str) -> PRCXI9300FunctionalModule:
+    """金属冷却模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=40.0,
+        module_type="metal_cooling",
+        model="PRCXI_MetalCooling_Module",
+        material_info={
+            "uuid": "TODO-METAL-COOLING-MODULE-UUID",
+            "Code": "METAL-COOL-MOD",
+            "Name": "PRCXI 金属冷却模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Shaking_Module(name: str) -> PRCXI9300FunctionalModule:
+    """震荡模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=50.0,
+        module_type="shaking",
+        model="PRCXI_Shaking_Module",
+        material_info={
+            "uuid": "TODO-SHAKING-MODULE-UUID",
+            "Code": "SHAKE-MOD",
+            "Name": "PRCXI 震荡模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Heating_Shaking_Module(name: str) -> PRCXI9300FunctionalModule:
+    """加热震荡模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=55.0,
+        module_type="heating_shaking",
+        model="PRCXI_Heating_Shaking_Module",
+        material_info={
+            "uuid": "TODO-HEATING-SHAKING-MODULE-UUID",
+            "Code": "HEAT-SHAKE-MOD",
+            "Name": "PRCXI 加热震荡模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Magnetic_Module(name: str) -> PRCXI9300FunctionalModule:
+    """磁吸模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=30.0,
+        module_type="magnetic",
+        model="PRCXI_Magnetic_Module",
+        material_info={
+            "uuid": "TODO-MAGNETIC-MODULE-UUID",
+            "Code": "MAG-MOD",
+            "Name": "PRCXI 磁吸模块",
+            "SupplyType": 3,
+        },
+    )
+

unilabos/devices/liquid_handling/rviz_backend.py

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

unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py

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

unilabos/devices/virtual/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/labware_manager/__init__.py

@@ -0,0 +1 @@
+# PRCXI 耗材管理 Web 应用

unilabos/labware_manager/__main__.py

@@ -0,0 +1,4 @@
+"""启动入口: python -m unilabos.labware_manager"""
+from unilabos.labware_manager.app import main
+
+main()

unilabos/labware_manager/app.py

@@ -0,0 +1,196 @@
+"""FastAPI 应用 + CRUD API + 启动入口。
+
+用法: python -m unilabos.labware_manager.app
+"""
+
+from __future__ import annotations
+
+import json
+import os
+from pathlib import Path
+from typing import List, Optional
+
+from fastapi import FastAPI, HTTPException, Query, Request
+from fastapi.responses import HTMLResponse, JSONResponse
+from fastapi.staticfiles import StaticFiles
+from fastapi.templating import Jinja2Templates
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_HERE = Path(__file__).resolve().parent
+_DB_PATH = _HERE / "labware_db.json"
+
+app = FastAPI(title="PRCXI 耗材管理", version="1.0")
+
+# 静态文件 + 模板
+app.mount("/static", StaticFiles(directory=str(_HERE / "static")), name="static")
+templates = Jinja2Templates(directory=str(_HERE / "templates"))
+
+
+# ---------- DB 读写 ----------
+
+def _load_db() -> LabwareDB:
+    if not _DB_PATH.exists():
+        return LabwareDB()
+    with open(_DB_PATH, "r", encoding="utf-8") as f:
+        return LabwareDB(**json.load(f))
+
+
+def _save_db(db: LabwareDB) -> None:
+    with open(_DB_PATH, "w", encoding="utf-8") as f:
+        json.dump(db.model_dump(), f, ensure_ascii=False, indent=2)
+
+
+# ---------- 页面路由 ----------
+
+@app.get("/", response_class=HTMLResponse)
+async def index_page(request: Request):
+    db = _load_db()
+    # 按 type 分组
+    groups = {}
+    for item in db.items:
+        groups.setdefault(item.type, []).append(item)
+    return templates.TemplateResponse("index.html", {
+        "request": request,
+        "groups": groups,
+        "total": len(db.items),
+    })
+
+
+@app.get("/labware/new", response_class=HTMLResponse)
+async def new_page(request: Request, type: str = "plate"):
+    return templates.TemplateResponse("edit.html", {
+        "request": request,
+        "item": None,
+        "labware_type": type,
+        "is_new": True,
+    })
+
+
+@app.get("/labware/{item_id}", response_class=HTMLResponse)
+async def detail_page(request: Request, item_id: str):
+    db = _load_db()
+    item = _find_item(db, item_id)
+    if not item:
+        raise HTTPException(404, "耗材不存在")
+    return templates.TemplateResponse("detail.html", {
+        "request": request,
+        "item": item,
+    })
+
+
+@app.get("/labware/{item_id}/edit", response_class=HTMLResponse)
+async def edit_page(request: Request, item_id: str):
+    db = _load_db()
+    item = _find_item(db, item_id)
+    if not item:
+        raise HTTPException(404, "耗材不存在")
+    return templates.TemplateResponse("edit.html", {
+        "request": request,
+        "item": item,
+        "labware_type": item.type,
+        "is_new": False,
+    })
+
+
+# ---------- API 端点 ----------
+
+@app.get("/api/labware")
+async def api_list_labware():
+    db = _load_db()
+    return {"items": [item.model_dump() for item in db.items]}
+
+
+@app.post("/api/labware")
+async def api_create_labware(request: Request):
+    data = await request.json()
+    db = _load_db()
+    item = LabwareItem(**data)
+    # 确保 id 唯一
+    existing_ids = {it.id for it in db.items}
+    while item.id in existing_ids:
+        import uuid
+        item.id = uuid.uuid4().hex[:8]
+    db.items.append(item)
+    _save_db(db)
+    return {"status": "ok", "id": item.id}
+
+
+@app.put("/api/labware/{item_id}")
+async def api_update_labware(item_id: str, request: Request):
+    data = await request.json()
+    db = _load_db()
+    for i, it in enumerate(db.items):
+        if it.id == item_id or it.function_name == item_id:
+            updated = LabwareItem(**{**it.model_dump(), **data, "id": it.id})
+            db.items[i] = updated
+            _save_db(db)
+            return {"status": "ok", "id": it.id}
+    raise HTTPException(404, "耗材不存在")
+
+
+@app.delete("/api/labware/{item_id}")
+async def api_delete_labware(item_id: str):
+    db = _load_db()
+    original_len = len(db.items)
+    db.items = [it for it in db.items if it.id != item_id and it.function_name != item_id]
+    if len(db.items) == original_len:
+        raise HTTPException(404, "耗材不存在")
+    _save_db(db)
+    return {"status": "ok"}
+
+
+@app.post("/api/generate-code")
+async def api_generate_code(request: Request):
+    body = await request.json() if await request.body() else {}
+    test_mode = body.get("test_mode", True)
+    db = _load_db()
+    if not db.items:
+        raise HTTPException(400, "数据库为空，请先导入")
+
+    from unilabos.labware_manager.codegen import generate_code
+    from unilabos.labware_manager.yaml_gen import generate_yaml
+
+    py_path = generate_code(db, test_mode=test_mode)
+    yaml_paths = generate_yaml(db, test_mode=test_mode)
+
+    return {
+        "status": "ok",
+        "python_file": str(py_path),
+        "yaml_files": [str(p) for p in yaml_paths],
+        "test_mode": test_mode,
+    }
+
+
+@app.post("/api/import-from-code")
+async def api_import_from_code():
+    from unilabos.labware_manager.importer import import_from_code, save_db
+    db = import_from_code()
+    save_db(db)
+    return {
+        "status": "ok",
+        "count": len(db.items),
+        "items": [{"function_name": it.function_name, "type": it.type} for it in db.items],
+    }
+
+
+# ---------- 辅助函数 ----------
+
+def _find_item(db: LabwareDB, item_id: str) -> Optional[LabwareItem]:
+    for item in db.items:
+        if item.id == item_id or item.function_name == item_id:
+            return item
+    return None
+
+
+# ---------- 启动入口 ----------
+
+def main():
+    import uvicorn
+    port = int(os.environ.get("LABWARE_PORT", "8010"))
+    print(f"PRCXI 耗材管理 → http://localhost:{port}")
+    uvicorn.run(app, host="0.0.0.0", port=port)
+
+
+if __name__ == "__main__":
+    main()

unilabos/labware_manager/codegen.py

@@ -0,0 +1,451 @@
+"""JSON → prcxi_labware.py 代码生成。
+
+读取 labware_db.json，输出完整的 prcxi_labware.py（或 prcxi_labware_test.py）。
+"""
+
+from __future__ import annotations
+
+import shutil
+from pathlib import Path
+from typing import List, Optional
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_TARGET_DIR = Path(__file__).resolve().parents[1] / "devices" / "liquid_handling" / "prcxi"
+
+# ---------- 固定头部 ----------
+_HEADER = '''\
+from typing import Any, Callable, Dict, List, Optional, Tuple
+from pylabrobot.resources import Tube, Coordinate
+from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
+from pylabrobot.resources.tip import Tip, TipCreator
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.utils import create_ordered_items_2d
+from pylabrobot.resources.height_volume_functions import (
+    compute_height_from_volume_rectangle,
+    compute_volume_from_height_rectangle,
+)
+
+from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
+
+def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
+    """
+    PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
+    """
+    return Tip(
+        has_filter=False, # 默认无滤芯
+        maximal_volume=volume,
+        total_tip_length=length,
+        fitting_depth=depth
+    )
+
+'''
+
+
+def _gen_plate(item: LabwareItem) -> str:
+    """生成 Plate 类型的工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    has_vf = item.volume_functions is not None
+
+    if has_vf:
+        # 有 volume_functions 时需要 well_kwargs 方式
+        vf = item.volume_functions
+        well = item.well
+        grid = item.grid
+
+        lines.append(f'def {fn}(name: str) -> PRCXI9300Plate:')
+        lines.append(f'    """')
+        for dl in doc.split('\n'):
+            lines.append(f'    {dl}')
+        lines.append(f'    """')
+
+        # 计算 well_size 变量
+        lines.append(f'    well_size_x = {well.size_x}')
+        lines.append(f'    well_size_y = {well.size_y}')
+
+        lines.append(f'    well_kwargs = {{')
+        lines.append(f'        "size_x": well_size_x,')
+        lines.append(f'        "size_y": well_size_y,')
+        lines.append(f'        "size_z": {well.size_z},')
+        lines.append(f'        "bottom_type": WellBottomType.{well.bottom_type},')
+        if well.cross_section_type and well.cross_section_type != "CIRCLE":
+            lines.append(f'        "cross_section_type": CrossSectionType.{well.cross_section_type},')
+        lines.append(f'        "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(')
+        lines.append(f'            liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y')
+        lines.append(f'        ),')
+        lines.append(f'        "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(')
+        lines.append(f'            liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y')
+        lines.append(f'        ),')
+        if well.material_z_thickness is not None:
+            lines.append(f'        "material_z_thickness": {well.material_z_thickness},')
+        lines.append(f'    }}')
+        lines.append(f'')
+        lines.append(f'    return PRCXI9300Plate(')
+        lines.append(f'        name=name,')
+        lines.append(f'        size_x={item.size_x},')
+        lines.append(f'        size_y={item.size_y},')
+        lines.append(f'        size_z={item.size_z},')
+        lines.append(f'        lid=None,')
+        lines.append(f'        model="{item.model}",')
+        lines.append(f'        category="plate",')
+        lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            Well,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            **well_kwargs,')
+        lines.append(f'        ),')
+        lines.append(f'    )')
+    else:
+        # 普通 plate
+        well = item.well
+        grid = item.grid
+
+        lines.append(f'def {fn}(name: str) -> PRCXI9300Plate:')
+        lines.append(f'    """')
+        for dl in doc.split('\n'):
+            lines.append(f'    {dl}')
+        lines.append(f'    """')
+        lines.append(f'    return PRCXI9300Plate(')
+        lines.append(f'        name=name,')
+        lines.append(f'        size_x={item.size_x},')
+        lines.append(f'        size_y={item.size_y},')
+        lines.append(f'        size_z={item.size_z},')
+        if item.plate_type:
+            lines.append(f'        plate_type="{item.plate_type}",')
+        lines.append(f'        model="{item.model}",')
+        lines.append(f'        category="plate",')
+        lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+        if grid and well:
+            lines.append(f'        ordered_items=create_ordered_items_2d(')
+            lines.append(f'            Well,')
+            lines.append(f'            num_items_x={grid.num_items_x},')
+            lines.append(f'            num_items_y={grid.num_items_y},')
+            lines.append(f'            dx={grid.dx},')
+            lines.append(f'            dy={grid.dy},')
+            lines.append(f'            dz={grid.dz},')
+            lines.append(f'            item_dx={grid.item_dx},')
+            lines.append(f'            item_dy={grid.item_dy},')
+            lines.append(f'            size_x={well.size_x},')
+            lines.append(f'            size_y={well.size_y},')
+            lines.append(f'            size_z={well.size_z},')
+            if well.max_volume is not None:
+                lines.append(f'            max_volume={well.max_volume},')
+            if well.material_z_thickness is not None:
+                lines.append(f'            material_z_thickness={well.material_z_thickness},')
+            if well.bottom_type and well.bottom_type != "FLAT":
+                lines.append(f'            bottom_type=WellBottomType.{well.bottom_type},')
+            if well.cross_section_type:
+                lines.append(f'            cross_section_type=CrossSectionType.{well.cross_section_type},')
+            lines.append(f'        ),')
+        lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_tip_rack(item: LabwareItem) -> str:
+    """生成 TipRack 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+    grid = item.grid
+    tip = item.tip
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300TipRack:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300TipRack(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+    if grid and tip:
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            TipSpot,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            size_x={tip.spot_size_x},')
+        lines.append(f'            size_y={tip.spot_size_y},')
+        lines.append(f'            size_z={tip.spot_size_z},')
+        lines.append(f'            make_tip=lambda: _make_tip_helper(volume={tip.tip_volume}, length={tip.tip_length}, depth={tip.tip_fitting_depth})')
+        lines.append(f'        )')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_trash(item: LabwareItem) -> str:
+    """生成 Trash 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    lines.append(f'def {fn}(name: str = "trash") -> PRCXI9300Trash:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300Trash(')
+    lines.append(f'        name="trash",')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        category="trash",')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))}')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_tube_rack(item: LabwareItem) -> str:
+    """生成 TubeRack 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+    grid = item.grid
+    tube = item.tube
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300TubeRack:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300TubeRack(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        category="tube_rack",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+    if grid and tube:
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            Tube,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            size_x={tube.size_x},')
+        lines.append(f'            size_y={tube.size_y},')
+        lines.append(f'            size_z={tube.size_z},')
+        lines.append(f'            max_volume={tube.max_volume}')
+        lines.append(f'        )')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_plate_adapter(item: LabwareItem) -> str:
+    """生成 PlateAdapter 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300PlateAdapter:')
+    lines.append(f'    """ {doc} """')
+    lines.append(f'    return PRCXI9300PlateAdapter(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    if item.model:
+        lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))}')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _fmt_dict(d: dict) -> str:
+    """格式化字典为 Python 代码片段。"""
+    parts = []
+    for k, v in d.items():
+        if isinstance(v, str):
+            parts.append(f'"{k}": "{v}"')
+        elif v is None:
+            continue
+        else:
+            parts.append(f'"{k}": {v}')
+    return '{' + ', '.join(parts) + '}'
+
+
+def _gen_template_factory_kinds(items: List[LabwareItem]) -> str:
+    """生成 PRCXI_TEMPLATE_FACTORY_KINDS 列表。"""
+    lines = ['PRCXI_TEMPLATE_FACTORY_KINDS: List[Tuple[Callable[..., Any], str]] = [']
+    for item in items:
+        if item.include_in_template_matching and item.template_kind:
+            lines.append(f'    ({item.function_name}, "{item.template_kind}"),')
+    lines.append(']')
+    return '\n'.join(lines)
+
+
+def _gen_footer() -> str:
+    """生成文件尾部的模板相关代码。"""
+    return '''
+
+# ---------------------------------------------------------------------------
+# 协议上传 / workflow 用：与设备端耗材字典字段对齐的模板描述（供 common 自动匹配）
+# ---------------------------------------------------------------------------
+
+_PRCXI_TEMPLATE_SPECS_CACHE: Optional[List[Dict[str, Any]]] = None
+
+
+def _probe_prcxi_resource(factory: Callable[..., Any]) -> Any:
+    probe = "__unilab_template_probe__"
+    if factory.__name__ == "PRCXI_trash":
+        return factory()
+    return factory(probe)
+
+
+def _first_child_capacity_for_match(resource: Any) -> float:
+    """Well max_volume 或 Tip 的 maximal_volume，用于与设备端 Volume 类似的打分。"""
+    ch = getattr(resource, "children", None) or []
+    if not ch:
+        return 0.0
+    c0 = ch[0]
+    mv = getattr(c0, "max_volume", None)
+    if mv is not None:
+        return float(mv)
+    tip = getattr(c0, "tip", None)
+    if tip is not None:
+        mv2 = getattr(tip, "maximal_volume", None)
+        if mv2 is not None:
+            return float(mv2)
+    return 0.0
+
+
+def get_prcxi_labware_template_specs() -> List[Dict[str, Any]]:
+    """返回与 ``prcxi._match_and_create_matrix`` 中耗材字段兼容的模板列表，用于按孔数+容量打分。"""
+    global _PRCXI_TEMPLATE_SPECS_CACHE
+    if _PRCXI_TEMPLATE_SPECS_CACHE is not None:
+        return _PRCXI_TEMPLATE_SPECS_CACHE
+
+    out: List[Dict[str, Any]] = []
+    for factory, kind in PRCXI_TEMPLATE_FACTORY_KINDS:
+        try:
+            r = _probe_prcxi_resource(factory)
+        except Exception:
+            continue
+        nx = int(getattr(r, "num_items_x", None) or 0)
+        ny = int(getattr(r, "num_items_y", None) or 0)
+        nchild = len(getattr(r, "children", []) or [])
+        hole_count = nx * ny if nx > 0 and ny > 0 else nchild
+        hole_row = ny if nx > 0 and ny > 0 else 0
+        hole_col = nx if nx > 0 and ny > 0 else 0
+        mi = getattr(r, "material_info", None) or {}
+        vol = _first_child_capacity_for_match(r)
+        menum = mi.get("materialEnum")
+        if menum is None and kind == "tip_rack":
+            menum = 1
+        elif menum is None and kind == "trash":
+            menum = 6
+        out.append(
+            {
+                "class_name": factory.__name__,
+                "kind": kind,
+                "materialEnum": menum,
+                "HoleRow": hole_row,
+                "HoleColum": hole_col,
+                "Volume": vol,
+                "hole_count": hole_count,
+                "material_uuid": mi.get("uuid"),
+                "material_code": mi.get("Code"),
+            }
+        )
+
+    _PRCXI_TEMPLATE_SPECS_CACHE = out
+    return out
+'''
+
+
+def generate_code(db: LabwareDB, test_mode: bool = True) -> Path:
+    """生成 prcxi_labware.py (或 _test.py)，返回输出文件路径。"""
+    suffix = "_test" if test_mode else ""
+    out_path = _TARGET_DIR / f"prcxi_labware{suffix}.py"
+
+    # 备份
+    if out_path.exists():
+        bak = out_path.with_suffix(".py.bak")
+        shutil.copy2(out_path, bak)
+
+    # 按类型分组的生成器
+    generators = {
+        "plate": _gen_plate,
+        "tip_rack": _gen_tip_rack,
+        "trash": _gen_trash,
+        "tube_rack": _gen_tube_rack,
+        "plate_adapter": _gen_plate_adapter,
+    }
+
+    # 按 type 分段
+    sections = {
+        "plate": [],
+        "tip_rack": [],
+        "trash": [],
+        "tube_rack": [],
+        "plate_adapter": [],
+    }
+
+    for item in db.items:
+        gen = generators.get(item.type)
+        if gen:
+            sections[item.type].append(gen(item))
+
+    # 组装完整文件
+    parts = [_HEADER]
+
+    section_titles = {
+        "plate": "# =========================================================================\n# Plates\n# =========================================================================",
+        "tip_rack": "# =========================================================================\n# Tip Racks\n# =========================================================================",
+        "trash": "# =========================================================================\n# Trash\n# =========================================================================",
+        "tube_rack": "# =========================================================================\n# Tube Racks\n# =========================================================================",
+        "plate_adapter": "# =========================================================================\n# Plate Adapters\n# =========================================================================",
+    }
+
+    for type_key in ["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"]:
+        if sections[type_key]:
+            parts.append(section_titles[type_key])
+            for code in sections[type_key]:
+                parts.append(code)
+
+    # Template factory kinds
+    parts.append("")
+    parts.append(_gen_template_factory_kinds(db.items))
+
+    # Footer
+    parts.append(_gen_footer())
+
+    content = '\n'.join(parts)
+    out_path.write_text(content, encoding="utf-8")
+    return out_path
+
+
+if __name__ == "__main__":
+    from unilabos.labware_manager.importer import load_db
+    db = load_db()
+    if not db.items:
+        print("labware_db.json 为空，请先运行 importer.py")
+    else:
+        out = generate_code(db, test_mode=True)
+        print(f"已生成 {out} ({len(db.items)} 个工厂函数)")

unilabos/labware_manager/importer.py

@@ -0,0 +1,474 @@
+"""从现有 prcxi_labware.py + registry YAML 导入耗材数据到 labware_db.json。
+
+策略：
+1. 实例化每个工厂函数 → 提取物理尺寸、material_info、children
+2. AST 解析源码 → 提取 docstring、volume_function 参数、plate_type
+3. 从 children[0].location 反推 dx/dy/dz，相邻位置差推 item_dx/item_dy
+4. 同时读取现有 YAML → 提取 registry_category / description
+"""
+
+from __future__ import annotations
+
+import ast
+import json
+import os
+import re
+import sys
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple
+
+import yaml
+
+# 将项目根目录加入 sys.path 以便 import
+_PROJECT_ROOT = Path(__file__).resolve().parents[2]
+if str(_PROJECT_ROOT) not in sys.path:
+    sys.path.insert(0, str(_PROJECT_ROOT))
+
+from unilabos.labware_manager.models import (
+    AdapterInfo,
+    GridInfo,
+    LabwareDB,
+    LabwareItem,
+    MaterialInfo,
+    TipInfo,
+    TubeInfo,
+    VolumeFunctions,
+    WellInfo,
+)
+
+# ---------- 路径常量 ----------
+_LABWARE_PY = Path(__file__).resolve().parents[1] / "devices" / "liquid_handling" / "prcxi" / "prcxi_labware.py"
+_REGISTRY_DIR = Path(__file__).resolve().parents[1] / "registry" / "resources" / "prcxi"
+_DB_PATH = Path(__file__).resolve().parent / "labware_db.json"
+
+# YAML 文件名 → type 映射
+_YAML_MAP: Dict[str, str] = {
+    "plates.yaml": "plate",
+    "tip_racks.yaml": "tip_rack",
+    "trash.yaml": "trash",
+    "tube_racks.yaml": "tube_rack",
+    "plate_adapters.yaml": "plate_adapter",
+}
+
+# PRCXI_TEMPLATE_FACTORY_KINDS 中列出的函数名（include_in_template_matching=True）
+_TEMPLATE_FACTORY_NAMES = {
+    "PRCXI_BioER_96_wellplate", "PRCXI_nest_1_troughplate",
+    "PRCXI_BioRad_384_wellplate", "PRCXI_AGenBio_4_troughplate",
+    "PRCXI_nest_12_troughplate", "PRCXI_CellTreat_96_wellplate",
+    "PRCXI_10ul_eTips", "PRCXI_300ul_Tips",
+    "PRCXI_PCR_Plate_200uL_nonskirted", "PRCXI_PCR_Plate_200uL_semiskirted",
+    "PRCXI_PCR_Plate_200uL_skirted", "PRCXI_trash",
+    "PRCXI_96_DeepWell", "PRCXI_EP_Adapter",
+    "PRCXI_1250uL_Tips", "PRCXI_10uL_Tips",
+    "PRCXI_1000uL_Tips", "PRCXI_200uL_Tips",
+    "PRCXI_48_DeepWell",
+}
+
+# template_kind 对应
+_TEMPLATE_KINDS: Dict[str, str] = {
+    "PRCXI_BioER_96_wellplate": "plate",
+    "PRCXI_nest_1_troughplate": "plate",
+    "PRCXI_BioRad_384_wellplate": "plate",
+    "PRCXI_AGenBio_4_troughplate": "plate",
+    "PRCXI_nest_12_troughplate": "plate",
+    "PRCXI_CellTreat_96_wellplate": "plate",
+    "PRCXI_10ul_eTips": "tip_rack",
+    "PRCXI_300ul_Tips": "tip_rack",
+    "PRCXI_PCR_Plate_200uL_nonskirted": "plate",
+    "PRCXI_PCR_Plate_200uL_semiskirted": "plate",
+    "PRCXI_PCR_Plate_200uL_skirted": "plate",
+    "PRCXI_trash": "trash",
+    "PRCXI_96_DeepWell": "plate",
+    "PRCXI_EP_Adapter": "tube_rack",
+    "PRCXI_1250uL_Tips": "tip_rack",
+    "PRCXI_10uL_Tips": "tip_rack",
+    "PRCXI_1000uL_Tips": "tip_rack",
+    "PRCXI_200uL_Tips": "tip_rack",
+    "PRCXI_48_DeepWell": "plate",
+}
+
+
+def _load_registry_info() -> Dict[str, Dict[str, Any]]:
+    """读取所有 registry YAML 文件，返回 {function_name: {category, description}} 映射。"""
+    info: Dict[str, Dict[str, Any]] = {}
+    for fname, ltype in _YAML_MAP.items():
+        fpath = _REGISTRY_DIR / fname
+        if not fpath.exists():
+            continue
+        with open(fpath, "r", encoding="utf-8") as f:
+            data = yaml.safe_load(f) or {}
+        for func_name, entry in data.items():
+            info[func_name] = {
+                "registry_category": entry.get("category", ["prcxi", ltype.replace("plate_adapter", "plate_adapters")]),
+                "registry_description": entry.get("description", ""),
+            }
+    return info
+
+
+def _parse_ast_info() -> Dict[str, Dict[str, Any]]:
+    """AST 解析 prcxi_labware.py，提取每个工厂函数的 docstring 和 volume_function 参数。"""
+    source = _LABWARE_PY.read_text(encoding="utf-8")
+    tree = ast.parse(source)
+    result: Dict[str, Dict[str, Any]] = {}
+
+    for node in ast.walk(tree):
+        if not isinstance(node, ast.FunctionDef):
+            continue
+        fname = node.name
+        if not fname.startswith("PRCXI_"):
+            continue
+        if fname.startswith("_"):
+            continue
+
+        info: Dict[str, Any] = {"docstring": "", "volume_functions": None, "plate_type": None}
+
+        # docstring
+        doc = ast.get_docstring(node)
+        if doc:
+            info["docstring"] = doc.strip()
+
+        # 搜索函数体中的 plate_type 赋值和 volume_function 参数
+        func_source = ast.get_source_segment(source, node) or ""
+
+        # plate_type
+        m = re.search(r'plate_type\s*=\s*["\']([^"\']+)["\']', func_source)
+        if m:
+            info["plate_type"] = m.group(1)
+
+        # volume_functions: 检查 compute_height_from_volume_rectangle
+        if "compute_height_from_volume_rectangle" in func_source:
+            # 提取 well_length 和 well_width
+            vf: Dict[str, Any] = {"type": "rectangle"}
+            # 尝试从 lambda 中提取
+            wl_match = re.search(r'well_length\s*=\s*([\w_.]+)', func_source)
+            ww_match = re.search(r'well_width\s*=\s*([\w_.]+)', func_source)
+            if wl_match:
+                vf["well_length_var"] = wl_match.group(1)
+            if ww_match:
+                vf["well_width_var"] = ww_match.group(1)
+            info["volume_functions"] = vf
+
+        result[fname] = info
+
+    return result
+
+
+def _probe_factory(factory_func) -> Any:
+    """实例化工厂函数获取 resource 对象。"""
+    if factory_func.__name__ == "PRCXI_trash":
+        return factory_func()
+    return factory_func("__probe__")
+
+
+def _get_size(resource, attr: str) -> float:
+    """获取 PLR Resource 的尺寸（兼容 size_x 和 _size_x）。"""
+    val = getattr(resource, attr, None)
+    if val is None:
+        val = getattr(resource, f"_{attr}", None)
+    if val is None:
+        val = getattr(resource, f"get_{attr}", lambda: 0)()
+    return float(val or 0)
+
+
+def _extract_grid_from_children(resource) -> Optional[Dict[str, Any]]:
+    """从 resource.children 提取网格信息。"""
+    children = getattr(resource, "children", None) or []
+    if not children:
+        return None
+
+    # 获取 num_items_x, num_items_y
+    num_x = getattr(resource, "num_items_x", None)
+    num_y = getattr(resource, "num_items_y", None)
+    if num_x is None or num_y is None:
+        return None
+
+    c0 = children[0]
+    loc0 = getattr(c0, "location", None)
+    dx = loc0.x if loc0 else 0.0
+    dy_raw = loc0.y if loc0 else 0.0  # 这是 PLR 布局后的位置，不是输入参数
+    dz = loc0.z if loc0 else 0.0
+
+    # 推算 item_dx, item_dy
+    item_dx = 9.0
+    item_dy = 9.0
+    if len(children) > 1:
+        c1 = children[1]
+        loc1 = getattr(c1, "location", None)
+        if loc1 and loc0:
+            diff_x = abs(loc1.x - loc0.x)
+            diff_y = abs(loc1.y - loc0.y)
+            if diff_x > 0.1:
+                item_dx = diff_x
+            if diff_y > 0.1:
+                item_dy = diff_y
+
+    # 如果 num_items_y > 1 且 num_items_x > 1, 找列间距
+    if int(num_y) > 1 and int(num_x) > 1 and len(children) >= int(num_y) + 1:
+        cn = children[int(num_y)]
+        locn = getattr(cn, "location", None)
+        if locn and loc0:
+            col_diff = abs(locn.x - loc0.x)
+            row_diff = abs(children[1].location.y - loc0.y) if len(children) > 1 else item_dy
+            if col_diff > 0.1:
+                item_dx = col_diff
+            if row_diff > 0.1:
+                item_dy = row_diff
+
+    # PLR create_ordered_items_2d 的 Y 轴排列是倒序的：
+    # child[0].y = dy_param + (num_y - 1) * item_dy  (最上面一行)
+    # 因此反推原始 dy 参数：
+    dy = dy_raw - (int(num_y) - 1) * item_dy
+
+    return {
+        "num_items_x": int(num_x),
+        "num_items_y": int(num_y),
+        "dx": round(dx, 4),
+        "dy": round(dy, 4),
+        "dz": round(dz, 4),
+        "item_dx": round(item_dx, 4),
+        "item_dy": round(item_dy, 4),
+    }
+
+
+def _extract_well_info(child) -> Dict[str, Any]:
+    """从 Well/TipSpot/Tube 子对象提取信息。"""
+    # material_z_thickness 在 PLR 中如果未设置会抛 NotImplementedError
+    mzt = None
+    try:
+        mzt = child.material_z_thickness
+    except (NotImplementedError, AttributeError):
+        mzt = getattr(child, "_material_z_thickness", None)
+
+    return {
+        "size_x": round(_get_size(child, "size_x"), 4),
+        "size_y": round(_get_size(child, "size_y"), 4),
+        "size_z": round(_get_size(child, "size_z"), 4),
+        "max_volume": getattr(child, "max_volume", None),
+        "bottom_type": getattr(child, "bottom_type", None),
+        "cross_section_type": getattr(child, "cross_section_type", None),
+        "material_z_thickness": mzt,
+    }
+
+
+def import_from_code() -> LabwareDB:
+    """执行完整的导入流程，返回 LabwareDB 对象。"""
+    # 1. 加载 registry 信息
+    reg_info = _load_registry_info()
+
+    # 2. AST 解析源码
+    ast_info = _parse_ast_info()
+
+    # 3. 导入工厂模块（通过包路径避免 relative import 问题）
+    import importlib
+    mod = importlib.import_module("unilabos.devices.liquid_handling.prcxi.prcxi_labware")
+
+    # 4. 获取 PRCXI_TEMPLATE_FACTORY_KINDS 列出的函数
+    factory_kinds = getattr(mod, "PRCXI_TEMPLATE_FACTORY_KINDS", [])
+    template_func_names = {f.__name__ for f, _k in factory_kinds}
+
+    # 5. 收集所有 PRCXI_ 开头的工厂函数
+    all_factories: List[Tuple[str, Any]] = []
+    for attr_name in dir(mod):
+        if attr_name.startswith("PRCXI_") and not attr_name.startswith("_"):
+            obj = getattr(mod, attr_name)
+            if callable(obj) and not isinstance(obj, type):
+                all_factories.append((attr_name, obj))
+
+    # 按源码行号排序
+    all_factories.sort(key=lambda x: getattr(x[1], "__code__", None) and x[1].__code__.co_firstlineno or 0)
+
+    items: List[LabwareItem] = []
+
+    for func_name, factory in all_factories:
+        try:
+            resource = _probe_factory(factory)
+        except Exception as e:
+            print(f"跳过 {func_name}: {e}")
+            continue
+
+        # 确定类型
+        type_name = "plate"
+        class_name = type(resource).__name__
+        if "TipRack" in class_name:
+            type_name = "tip_rack"
+        elif "Trash" in class_name:
+            type_name = "trash"
+        elif "TubeRack" in class_name:
+            type_name = "tube_rack"
+        elif "PlateAdapter" in class_name:
+            type_name = "plate_adapter"
+
+        # material_info
+        state = getattr(resource, "_unilabos_state", {}) or {}
+        mat = state.get("Material", {})
+        mat_info = MaterialInfo(
+            uuid=mat.get("uuid", ""),
+            Code=mat.get("Code", ""),
+            Name=mat.get("Name", ""),
+            materialEnum=mat.get("materialEnum"),
+            SupplyType=mat.get("SupplyType"),
+        )
+
+        # AST 信息
+        ast_data = ast_info.get(func_name, {})
+        docstring = ast_data.get("docstring", "")
+        plate_type = ast_data.get("plate_type")
+
+        # Registry 信息
+        reg = reg_info.get(func_name, {})
+        registry_category = reg.get("registry_category", ["prcxi", _type_to_yaml_subcategory(type_name)])
+        registry_description = reg.get("registry_description", f'{mat_info.Name} (Code: {mat_info.Code})')
+
+        # 构建 item
+        item = LabwareItem(
+            id=func_name.lower().replace("prcxi_", "")[:8] or func_name[:8],
+            type=type_name,
+            function_name=func_name,
+            docstring=docstring,
+            size_x=round(_get_size(resource, "size_x"), 4),
+            size_y=round(_get_size(resource, "size_y"), 4),
+            size_z=round(_get_size(resource, "size_z"), 4),
+            model=getattr(resource, "model", None),
+            category=getattr(resource, "category", type_name),
+            plate_type=plate_type,
+            material_info=mat_info,
+            registry_category=registry_category,
+            registry_description=registry_description,
+            include_in_template_matching=func_name in template_func_names,
+            template_kind=_TEMPLATE_KINDS.get(func_name),
+        )
+
+        # 提取子项信息
+        children = getattr(resource, "children", None) or []
+        grid_data = _extract_grid_from_children(resource)
+
+        if type_name == "plate" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            well_data = _extract_well_info(c0)
+            bt = well_data.get("bottom_type")
+            if bt is not None:
+                bt = bt.name if hasattr(bt, "name") else str(bt)
+            else:
+                bt = "FLAT"
+            cst = well_data.get("cross_section_type")
+            if cst is not None:
+                cst = cst.name if hasattr(cst, "name") else str(cst)
+            else:
+                cst = "CIRCLE"
+            item.well = WellInfo(
+                size_x=well_data["size_x"],
+                size_y=well_data["size_y"],
+                size_z=well_data["size_z"],
+                max_volume=well_data.get("max_volume"),
+                bottom_type=bt,
+                cross_section_type=cst,
+                material_z_thickness=well_data.get("material_z_thickness"),
+            )
+            # volume_functions
+            vf = ast_data.get("volume_functions")
+            if vf:
+                # 需要实际获取 well 尺寸作为 volume_function 参数
+                item.volume_functions = VolumeFunctions(
+                    type="rectangle",
+                    well_length=well_data["size_x"],
+                    well_width=well_data["size_y"],
+                )
+
+        elif type_name == "tip_rack" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            tip_obj = getattr(c0, "tip", None)
+            tip_volume = 300.0
+            tip_length = 60.0
+            tip_depth = 51.0
+            tip_filter = False
+            if tip_obj:
+                tip_volume = getattr(tip_obj, "maximal_volume", 300.0)
+                tip_length = getattr(tip_obj, "total_tip_length", 60.0)
+                tip_depth = getattr(tip_obj, "fitting_depth", 51.0)
+                tip_filter = getattr(tip_obj, "has_filter", False)
+            item.tip = TipInfo(
+                spot_size_x=round(_get_size(c0, "size_x"), 4),
+                spot_size_y=round(_get_size(c0, "size_y"), 4),
+                spot_size_z=round(_get_size(c0, "size_z"), 4),
+                tip_volume=tip_volume,
+                tip_length=tip_length,
+                tip_fitting_depth=tip_depth,
+                has_filter=tip_filter,
+            )
+            # 计算 tip_above_rack_length = tip_length - (size_z - dz)
+            if grid_data:
+                _dz = grid_data.get("dz", 0.0)
+                _above = tip_length - (item.size_z - _dz)
+                item.tip.tip_above_rack_length = round(_above, 4) if _above > 0 else None
+
+        elif type_name == "tube_rack" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            item.tube = TubeInfo(
+                size_x=round(_get_size(c0, "size_x"), 4),
+                size_y=round(_get_size(c0, "size_y"), 4),
+                size_z=round(_get_size(c0, "size_z"), 4),
+                max_volume=getattr(c0, "max_volume", 1500.0) or 1500.0,
+            )
+
+        elif type_name == "plate_adapter":
+            # 提取 adapter 参数
+            ahx = getattr(resource, "adapter_hole_size_x", 127.76)
+            ahy = getattr(resource, "adapter_hole_size_y", 85.48)
+            ahz = getattr(resource, "adapter_hole_size_z", 10.0)
+            adx = getattr(resource, "dx", None)
+            ady = getattr(resource, "dy", None)
+            adz = getattr(resource, "dz", 0.0)
+            item.adapter = AdapterInfo(
+                adapter_hole_size_x=ahx,
+                adapter_hole_size_y=ahy,
+                adapter_hole_size_z=ahz,
+                dx=adx,
+                dy=ady,
+                dz=adz,
+            )
+
+        items.append(item)
+
+    return LabwareDB(items=items)
+
+
+def _type_to_yaml_subcategory(type_name: str) -> str:
+    mapping = {
+        "plate": "plates",
+        "tip_rack": "tip_racks",
+        "trash": "trash",
+        "tube_rack": "tube_racks",
+        "plate_adapter": "plate_adapters",
+    }
+    return mapping.get(type_name, type_name)
+
+
+def save_db(db: LabwareDB, path: Optional[Path] = None) -> Path:
+    """保存 LabwareDB 到 JSON 文件。"""
+    out = path or _DB_PATH
+    with open(out, "w", encoding="utf-8") as f:
+        json.dump(db.model_dump(), f, ensure_ascii=False, indent=2)
+    return out
+
+
+def load_db(path: Optional[Path] = None) -> LabwareDB:
+    """从 JSON 文件加载 LabwareDB。"""
+    src = path or _DB_PATH
+    if not src.exists():
+        return LabwareDB()
+    with open(src, "r", encoding="utf-8") as f:
+        return LabwareDB(**json.load(f))
+
+
+if __name__ == "__main__":
+    db = import_from_code()
+    out = save_db(db)
+    print(f"已导入 {len(db.items)} 个耗材 → {out}")
+    for item in db.items:
+        print(f"  [{item.type:14s}] {item.function_name}")

unilabos/labware_manager/models.py

@@ -0,0 +1,126 @@
+"""Pydantic 数据模型，描述所有 PRCXI 耗材类型的 JSON 结构。"""
+
+from __future__ import annotations
+
+import uuid as _uuid
+from typing import Any, Dict, List, Literal, Optional
+
+from pydantic import BaseModel, Field
+
+
+class MaterialInfo(BaseModel):
+    uuid: str = ""
+    Code: str = ""
+    Name: str = ""
+    materialEnum: Optional[int] = None
+    SupplyType: Optional[int] = None
+
+
+class GridInfo(BaseModel):
+    """孔位网格排列参数"""
+    num_items_x: int = 12
+    num_items_y: int = 8
+    dx: float = 0.0
+    dy: float = 0.0
+    dz: float = 0.0
+    item_dx: float = 9.0
+    item_dy: float = 9.0
+
+
+class WellInfo(BaseModel):
+    """孔参数 (Plate)"""
+    size_x: float = 8.0
+    size_y: float = 8.0
+    size_z: float = 10.0
+    max_volume: Optional[float] = None
+    bottom_type: str = "FLAT"          # V / U / FLAT
+    cross_section_type: str = "CIRCLE"  # CIRCLE / RECTANGLE
+    material_z_thickness: Optional[float] = None
+
+
+class VolumeFunctions(BaseModel):
+    """体积-高度计算函数参数 (矩形 well)"""
+    type: str = "rectangle"
+    well_length: float = 0.0
+    well_width: float = 0.0
+
+
+class TipInfo(BaseModel):
+    """枪头参数 (TipRack)"""
+    spot_size_x: float = 7.0
+    spot_size_y: float = 7.0
+    spot_size_z: float = 0.0
+    tip_volume: float = 300.0
+    tip_length: float = 60.0
+    tip_fitting_depth: float = 51.0
+    tip_above_rack_length: Optional[float] = None
+    has_filter: bool = False
+
+
+class TubeInfo(BaseModel):
+    """管参数 (TubeRack)"""
+    size_x: float = 10.6
+    size_y: float = 10.6
+    size_z: float = 40.0
+    max_volume: float = 1500.0
+
+
+class AdapterInfo(BaseModel):
+    """适配器参数 (PlateAdapter)"""
+    adapter_hole_size_x: float = 127.76
+    adapter_hole_size_y: float = 85.48
+    adapter_hole_size_z: float = 10.0
+    dx: Optional[float] = None
+    dy: Optional[float] = None
+    dz: float = 0.0
+
+
+LabwareType = Literal["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"]
+
+
+class LabwareItem(BaseModel):
+    """一个耗材条目的完整 JSON 表示"""
+
+    id: str = Field(default_factory=lambda: _uuid.uuid4().hex[:8])
+    type: LabwareType = "plate"
+    function_name: str = ""
+    docstring: str = ""
+
+    # 物理尺寸
+    size_x: float = 127.0
+    size_y: float = 85.0
+    size_z: float = 20.0
+    model: Optional[str] = None
+    category: Optional[str] = None
+    plate_type: Optional[str] = None  # non-skirted / semi-skirted / skirted
+
+    # 材料信息
+    material_info: MaterialInfo = Field(default_factory=MaterialInfo)
+
+    # Registry 字段
+    registry_category: List[str] = Field(default_factory=lambda: ["prcxi", "plates"])
+    registry_description: str = ""
+
+    # Plate 特有
+    grid: Optional[GridInfo] = None
+    well: Optional[WellInfo] = None
+    volume_functions: Optional[VolumeFunctions] = None
+
+    # TipRack 特有
+    tip: Optional[TipInfo] = None
+
+    # TubeRack 特有
+    tube: Optional[TubeInfo] = None
+
+    # PlateAdapter 特有
+    adapter: Optional[AdapterInfo] = None
+
+    # 模板匹配
+    include_in_template_matching: bool = False
+    template_kind: Optional[str] = None
+
+
+class LabwareDB(BaseModel):
+    """整个 labware_db.json 的结构"""
+    version: str = "1.0"
+    items: List[LabwareItem] = Field(default_factory=list)

unilabos/labware_manager/static/form_handler.js

@@ -0,0 +1,292 @@
+/**
+ * form_handler.js — 动态表单逻辑 + 实时预览
+ */
+
+// 根据类型显示/隐藏对应的表单段
+function onTypeChange() {
+    const type = document.getElementById('f-type').value;
+    const sections = {
+        grid: ['plate', 'tip_rack', 'tube_rack'],
+        well: ['plate'],
+        tip: ['tip_rack'],
+        tube: ['tube_rack'],
+        adapter: ['plate_adapter'],
+    };
+
+    for (const [sec, types] of Object.entries(sections)) {
+        const el = document.getElementById('section-' + sec);
+        if (el) el.style.display = types.includes(type) ? 'block' : 'none';
+    }
+
+    // plate_type 行只对 plate 显示
+    const ptRow = document.getElementById('row-plate_type');
+    if (ptRow) ptRow.style.display = type === 'plate' ? 'block' : 'none';
+
+    updatePreview();
+}
+
+// 从表单收集数据
+function collectFormData() {
+    const g = id => {
+        const el = document.getElementById(id);
+        if (!el) return null;
+        if (el.type === 'checkbox') return el.checked;
+        if (el.type === 'number') return el.value === '' ? null : parseFloat(el.value);
+        return el.value || null;
+    };
+
+    const type = g('f-type');
+
+    const data = {
+        type: type,
+        function_name: g('f-function_name') || 'PRCXI_new',
+        model: g('f-model'),
+        docstring: g('f-docstring') || '',
+        plate_type: type === 'plate' ? g('f-plate_type') : null,
+        size_x: g('f-size_x') || 127,
+        size_y: g('f-size_y') || 85,
+        size_z: g('f-size_z') || 20,
+        material_info: {
+            uuid: g('f-mi_uuid') || '',
+            Code: g('f-mi_code') || '',
+            Name: g('f-mi_name') || '',
+            materialEnum: g('f-mi_menum'),
+            SupplyType: g('f-mi_stype'),
+        },
+        registry_category: (g('f-reg_cat') || 'prcxi,plates').split(',').map(s => s.trim()),
+        registry_description: g('f-reg_desc') || '',
+        include_in_template_matching: g('f-in_tpl') || false,
+        template_kind: g('f-tpl_kind') || null,
+        grid: null,
+        well: null,
+        tip: null,
+        tube: null,
+        adapter: null,
+        volume_functions: null,
+    };
+
+    // Grid
+    if (['plate', 'tip_rack', 'tube_rack'].includes(type)) {
+        data.grid = {
+            num_items_x: g('f-grid_nx') || 12,
+            num_items_y: g('f-grid_ny') || 8,
+            dx: g('f-grid_dx') || 0,
+            dy: g('f-grid_dy') || 0,
+            dz: g('f-grid_dz') || 0,
+            item_dx: g('f-grid_idx') || 9,
+            item_dy: g('f-grid_idy') || 9,
+        };
+    }
+
+    // Well
+    if (type === 'plate') {
+        data.well = {
+            size_x: g('f-well_sx') || 8,
+            size_y: g('f-well_sy') || 8,
+            size_z: g('f-well_sz') || 10,
+            max_volume: g('f-well_vol'),
+            material_z_thickness: g('f-well_mzt'),
+            bottom_type: g('f-well_bt') || 'FLAT',
+            cross_section_type: g('f-well_cs') || 'CIRCLE',
+        };
+        if (g('f-has_vf')) {
+            data.volume_functions = {
+                type: 'rectangle',
+                well_length: data.well.size_x,
+                well_width: data.well.size_y,
+            };
+        }
+    }
+
+    // Tip
+    if (type === 'tip_rack') {
+        data.tip = {
+            spot_size_x: g('f-tip_sx') || 7,
+            spot_size_y: g('f-tip_sy') || 7,
+            spot_size_z: g('f-tip_sz') || 0,
+            tip_volume: g('f-tip_vol') || 300,
+            tip_length: g('f-tip_len') || 60,
+            tip_fitting_depth: g('f-tip_dep') || 51,
+            tip_above_rack_length: g('f-tip_above'),
+            has_filter: g('f-tip_filter') || false,
+        };
+    }
+
+    // Tube
+    if (type === 'tube_rack') {
+        data.tube = {
+            size_x: g('f-tube_sx') || 10.6,
+            size_y: g('f-tube_sy') || 10.6,
+            size_z: g('f-tube_sz') || 40,
+            max_volume: g('f-tube_vol') || 1500,
+        };
+    }
+
+    // Adapter
+    if (type === 'plate_adapter') {
+        data.adapter = {
+            adapter_hole_size_x: g('f-adp_hsx') || 127.76,
+            adapter_hole_size_y: g('f-adp_hsy') || 85.48,
+            adapter_hole_size_z: g('f-adp_hsz') || 10,
+            dx: g('f-adp_dx'),
+            dy: g('f-adp_dy'),
+            dz: g('f-adp_dz') || 0,
+        };
+    }
+
+    return data;
+}
+
+// 实时预览 (debounce)
+let _previewTimer = null;
+function updatePreview() {
+    if (_previewTimer) clearTimeout(_previewTimer);
+    _previewTimer = setTimeout(() => {
+        const data = collectFormData();
+        const topEl = document.getElementById('svg-topdown');
+        const sideEl = document.getElementById('svg-side');
+        if (topEl) renderTopDown(topEl, data);
+        if (sideEl) renderSideProfile(sideEl, data);
+    }, 200);
+}
+
+// 给所有表单元素绑定 input 事件
+document.addEventListener('DOMContentLoaded', () => {
+    const form = document.getElementById('labware-form');
+    if (!form) return;
+    form.addEventListener('input', updatePreview);
+    form.addEventListener('change', updatePreview);
+
+    // tip_above_rack_length 与 dz 互算
+    // 公式: tip_length = tip_above_rack_length + size_z - dz
+    // 规则: 填 tip_above → 自动算 dz；填 dz → 自动算 tip_above
+    //       改 size_z / tip_length → 优先重算 tip_above（若有值），否则算 dz
+
+    function _getVal(id) {
+        const el = document.getElementById(id);
+        return (el && el.value !== '') ? parseFloat(el.value) : null;
+    }
+    function _setVal(id, v) {
+        const el = document.getElementById(id);
+        if (el) el.value = Math.round(v * 1000) / 1000;
+    }
+
+    function autoCalcTipAbove(changedId) {
+        const typeEl = document.getElementById('f-type');
+        if (!typeEl || typeEl.value !== 'tip_rack') return;
+
+        const tipLen = _getVal('f-tip_len');
+        const sizeZ  = _getVal('f-size_z');
+        const dz     = _getVal('f-grid_dz');
+        const above  = _getVal('f-tip_above');
+
+        // 需要 tip_length 和 size_z 才能计算
+        if (tipLen == null || sizeZ == null) return;
+
+        if (changedId === 'f-tip_above') {
+            // 用户填了 tip_above → 算 dz
+            if (above != null) _setVal('f-grid_dz', above + sizeZ - tipLen);
+        } else if (changedId === 'f-grid_dz') {
+            // 用户填了 dz → 算 tip_above
+            if (dz != null) _setVal('f-tip_above', tipLen - sizeZ + dz);
+        } else {
+            // size_z 或 tip_length 变了 → 优先重算 tip_above（若已有值或 dz 已有值）
+            if (dz != null) {
+                _setVal('f-tip_above', tipLen - sizeZ + dz);
+            } else if (above != null) {
+                _setVal('f-grid_dz', above + sizeZ - tipLen);
+            }
+        }
+    }
+
+    // 绑定 input 事件
+    for (const id of ['f-tip_len', 'f-size_z', 'f-grid_dz', 'f-tip_above']) {
+        const el = document.getElementById(id);
+        if (el) el.addEventListener('input', () => autoCalcTipAbove(id));
+    }
+
+    // 编辑已有 tip_rack 条目时自动补算 tip_above_rack_length
+    const typeEl = document.getElementById('f-type');
+    if (typeEl && typeEl.value === 'tip_rack') {
+        autoCalcTipAbove('f-grid_dz');
+    }
+});
+
+// 自动居中：根据板尺寸和孔阵列参数计算 dx/dy
+function autoCenter() {
+    const g = id => { const el = document.getElementById(id); return el && el.value !== '' ? parseFloat(el.value) : 0; };
+
+    const sizeX = g('f-size_x') || 127;
+    const sizeY = g('f-size_y') || 85;
+    const nx = g('f-grid_nx') || 1;
+    const ny = g('f-grid_ny') || 1;
+    const itemDx = g('f-grid_idx') || 9;
+    const itemDy = g('f-grid_idy') || 9;
+
+    // 根据当前耗材类型确定子元素尺寸
+    const type = document.getElementById('f-type').value;
+    let childSx = 0, childSy = 0;
+    if (type === 'plate') {
+        childSx = g('f-well_sx') || 8;
+        childSy = g('f-well_sy') || 8;
+    } else if (type === 'tip_rack') {
+        childSx = g('f-tip_sx') || 7;
+        childSy = g('f-tip_sy') || 7;
+    } else if (type === 'tube_rack') {
+        childSx = g('f-tube_sx') || 10.6;
+        childSy = g('f-tube_sy') || 10.6;
+    }
+
+    // dx = (板宽 - 孔阵列总占宽) / 2
+    const dx = (sizeX - (nx - 1) * itemDx - childSx) / 2;
+    const dy = (sizeY - (ny - 1) * itemDy - childSy) / 2;
+
+    const elDx = document.getElementById('f-grid_dx');
+    const elDy = document.getElementById('f-grid_dy');
+    if (elDx) elDx.value = Math.round(dx * 100) / 100;
+    if (elDy) elDy.value = Math.round(dy * 100) / 100;
+
+    updatePreview();
+}
+
+// 保存
+function showMsg(text, ok) {
+    const el = document.getElementById('status-msg');
+    if (!el) return;
+    el.textContent = text;
+    el.className = 'status-msg ' + (ok ? 'msg-ok' : 'msg-err');
+    el.style.display = 'block';
+    setTimeout(() => el.style.display = 'none', 4000);
+}
+
+async function saveForm() {
+    const data = collectFormData();
+
+    let url, method;
+    if (typeof IS_NEW !== 'undefined' && IS_NEW) {
+        url = '/api/labware';
+        method = 'POST';
+    } else {
+        url = '/api/labware/' + (typeof ITEM_ID !== 'undefined' ? ITEM_ID : '');
+        method = 'PUT';
+    }
+
+    try {
+        const r = await fetch(url, {
+            method: method,
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify(data),
+        });
+        const d = await r.json();
+        if (d.status === 'ok') {
+            showMsg('保存成功', true);
+            if (IS_NEW) {
+                setTimeout(() => location.href = '/labware/' + data.function_name, 500);
+            }
+        } else {
+            showMsg('保存失败: ' + JSON.stringify(d), false);
+        }
+    } catch (e) {
+        showMsg('请求错误: ' + e.message, false);
+    }
+}

unilabos/labware_manager/static/labware_viz.js

@@ -0,0 +1,450 @@
+/**
+ * labware_viz.js — PRCXI 耗材 SVG 2D 可视化渲染引擎
+ *
+ * renderTopDown(container, itemData)  — 俯视图
+ * renderSideProfile(container, itemData) — 侧面截面图
+ */
+
+const TYPE_COLORS = {
+    plate: '#3b82f6',
+    tip_rack: '#10b981',
+    tube_rack: '#f59e0b',
+    trash: '#ef4444',
+    plate_adapter: '#8b5cf6',
+};
+
+function _svgNS() { return 'http://www.w3.org/2000/svg'; }
+
+function _makeSVG(w, h) {
+    const svg = document.createElementNS(_svgNS(), 'svg');
+    svg.setAttribute('viewBox', `0 0 ${w} ${h}`);
+    svg.setAttribute('width', '100%');
+    svg.setAttribute('preserveAspectRatio', 'xMidYMid meet');
+    svg.style.background = '#fff';
+    return svg;
+}
+
+function _rect(svg, x, y, w, h, fill, stroke, rx) {
+    const r = document.createElementNS(_svgNS(), 'rect');
+    r.setAttribute('x', x); r.setAttribute('y', y);
+    r.setAttribute('width', w); r.setAttribute('height', h);
+    r.setAttribute('fill', fill || 'none');
+    r.setAttribute('stroke', stroke || '#333');
+    r.setAttribute('stroke-width', '0.5');
+    if (rx) r.setAttribute('rx', rx);
+    svg.appendChild(r);
+    return r;
+}
+
+function _circle(svg, cx, cy, r, fill, stroke) {
+    const c = document.createElementNS(_svgNS(), 'circle');
+    c.setAttribute('cx', cx); c.setAttribute('cy', cy);
+    c.setAttribute('r', r);
+    c.setAttribute('fill', fill || 'none');
+    c.setAttribute('stroke', stroke || '#333');
+    c.setAttribute('stroke-width', '0.4');
+    svg.appendChild(c);
+    return c;
+}
+
+function _text(svg, x, y, txt, size, anchor, fill) {
+    const t = document.createElementNS(_svgNS(), 'text');
+    t.setAttribute('x', x); t.setAttribute('y', y);
+    t.setAttribute('font-size', size || '3');
+    t.setAttribute('text-anchor', anchor || 'middle');
+    t.setAttribute('fill', fill || '#666');
+    t.setAttribute('font-family', 'sans-serif');
+    t.textContent = txt;
+    svg.appendChild(t);
+    return t;
+}
+
+function _line(svg, x1, y1, x2, y2, stroke, dash) {
+    const l = document.createElementNS(_svgNS(), 'line');
+    l.setAttribute('x1', x1); l.setAttribute('y1', y1);
+    l.setAttribute('x2', x2); l.setAttribute('y2', y2);
+    l.setAttribute('stroke', stroke || '#999');
+    l.setAttribute('stroke-width', '0.3');
+    if (dash) l.setAttribute('stroke-dasharray', dash);
+    svg.appendChild(l);
+    return l;
+}
+
+function _title(el, txt) {
+    const t = document.createElementNS(_svgNS(), 'title');
+    t.textContent = txt;
+    el.appendChild(t);
+}
+
+// ==================== 俯视图 ====================
+function renderTopDown(container, data) {
+    container.innerHTML = '';
+    if (!data) return;
+
+    const pad = 18;
+    const sx = data.size_x || 127;
+    const sy = data.size_y || 85;
+    const w = sx + pad * 2;
+    const h = sy + pad * 2;
+    const svg = _makeSVG(w, h);
+
+    const color = TYPE_COLORS[data.type] || '#3b82f6';
+    const lightColor = color + '22';
+
+    // 板子外轮廓
+    _rect(svg, pad, pad, sx, sy, lightColor, color, 3);
+
+    // 尺寸标注
+    _text(svg, pad + sx / 2, pad - 4, `${sx} mm`, '3.5', 'middle', '#333');
+    // Y 尺寸 (竖直)
+    const yt = document.createElementNS(_svgNS(), 'text');
+    yt.setAttribute('x', pad - 5);
+    yt.setAttribute('y', pad + sy / 2);
+    yt.setAttribute('font-size', '3.5');
+    yt.setAttribute('text-anchor', 'middle');
+    yt.setAttribute('fill', '#333');
+    yt.setAttribute('font-family', 'sans-serif');
+    yt.setAttribute('transform', `rotate(-90, ${pad - 5}, ${pad + sy / 2})`);
+    yt.textContent = `${sy} mm`;
+    svg.appendChild(yt);
+
+    const grid = data.grid;
+    const well = data.well;
+    const tip = data.tip;
+    const tube = data.tube;
+
+    if (grid && (well || tip || tube)) {
+        const nx = grid.num_items_x || 1;
+        const ny = grid.num_items_y || 1;
+        const dx = grid.dx || 0;
+        const dy = grid.dy || 0;
+        const idx = grid.item_dx || 9;
+        const idy = grid.item_dy || 9;
+
+        const child = well || tip || tube;
+        const csx = child.size_x || child.spot_size_x || 8;
+        const csy = child.size_y || child.spot_size_y || 8;
+
+        const isCircle = well ? (well.cross_section_type === 'CIRCLE') : (!!tip);
+
+        // 行列标签
+        for (let col = 0; col < nx; col++) {
+            const cx = pad + dx + csx / 2 + col * idx;
+            _text(svg, cx, pad + sy + 5, String(col + 1), '2.5', 'middle', '#999');
+        }
+        const rowLabels = 'ABCDEFGHIJKLMNOP';
+        for (let row = 0; row < ny; row++) {
+            const cy = pad + dy + csy / 2 + row * idy;
+            _text(svg, pad - 4, cy + 1, rowLabels[row] || String(row), '2.5', 'middle', '#999');
+        }
+
+        // 绘制孔位
+        for (let col = 0; col < nx; col++) {
+            for (let row = 0; row < ny; row++) {
+                const cx = pad + dx + csx / 2 + col * idx;
+                const cy = pad + dy + csy / 2 + row * idy;
+
+                let el;
+                if (isCircle) {
+                    const r = Math.min(csx, csy) / 2;
+                    el = _circle(svg, cx, cy, r, '#fff', color);
+                } else {
+                    el = _rect(svg, cx - csx / 2, cy - csy / 2, csx, csy, '#fff', color);
+                }
+
+                const label = (rowLabels[row] || '') + String(col + 1);
+                _title(el, `${label}: ${csx}x${csy} mm`);
+
+                // hover 效果
+                el.style.cursor = 'pointer';
+                el.addEventListener('mouseenter', () => el.setAttribute('fill', color + '44'));
+                el.addEventListener('mouseleave', () => el.setAttribute('fill', '#fff'));
+            }
+        }
+
+        // dx / dy 标注（板边到首个子元素左上角）
+        const dimColor = '#e67e22';
+        const firstLeft = pad + dx;        // 首列子元素左边 X
+        const firstTop  = pad + dy;        // 首行子元素上边 Y
+        if (dx > 0.1) {
+            // dx: 板左边 → 首列子元素左边，画在第一行子元素中心高度
+            const annY = firstTop + csy / 2;
+            _line(svg, pad, annY, firstLeft, annY, dimColor, '1,1');
+            _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+            _line(svg, firstLeft, annY - 2, firstLeft, annY + 2, dimColor);
+            _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+        }
+        if (dy > 0.1) {
+            // dy: 板上边 → 首行子元素上边，画在第一列子元素中心宽度
+            const annX = firstLeft + csx / 2;
+            _line(svg, annX, pad, annX, firstTop, dimColor, '1,1');
+            _line(svg, annX - 2, pad, annX + 2, pad, dimColor);
+            _line(svg, annX - 2, firstTop, annX + 2, firstTop, dimColor);
+            _text(svg, annX + 4, pad + dy / 2 + 1, `dy=${dy}`, '2.5', 'start', dimColor);
+        }
+    } else if (data.type === 'plate_adapter' && data.adapter) {
+        // 绘制适配器凹槽
+        const adp = data.adapter;
+        const ahx = adp.adapter_hole_size_x || 127;
+        const ahy = adp.adapter_hole_size_y || 85;
+        const adx = adp.dx != null ? adp.dx : (sx - ahx) / 2;
+        const ady = adp.dy != null ? adp.dy : (sy - ahy) / 2;
+        _rect(svg, pad + adx, pad + ady, ahx, ahy, '#f0f0ff', '#8b5cf6', 2);
+        _text(svg, pad + adx + ahx / 2, pad + ady + ahy / 2, `${ahx}x${ahy}`, '4', 'middle', '#8b5cf6');
+    } else if (data.type === 'trash') {
+        // 简单标记
+        _text(svg, pad + sx / 2, pad + sy / 2, 'TRASH', '8', 'middle', '#ef4444');
+    }
+
+    container.appendChild(svg);
+    _enableZoomPan(svg, `0 0 ${w} ${h}`);
+}
+
+// ==================== 侧面截面图 ====================
+function renderSideProfile(container, data) {
+    container.innerHTML = '';
+    if (!data) return;
+
+    const pad = 20;
+    const sx = data.size_x || 127;
+    const sz = data.size_z || 20;
+
+    // 按比例缩放，侧面以 X-Z 面
+    const scaleH = Math.max(1, sz / 60); // 让较矮的板子不会太小
+
+    // 计算枪头露出高度（仅 tip_rack）
+    const tip = data.tip;
+    const grid = data.grid;
+    let tipAbove = 0;
+    if (data.type === 'tip_rack' && tip) {
+        if (tip.tip_above_rack_length != null && tip.tip_above_rack_length > 0) {
+            tipAbove = tip.tip_above_rack_length;
+        } else if (tip.tip_length && grid) {
+            const dz = grid.dz || 0;
+            const calc = tip.tip_length - (sz - dz);
+            if (calc > 0) tipAbove = calc;
+        }
+    }
+
+    const drawW = sx;
+    const drawH = sz;
+    const w = drawW + pad * 2 + 30; // 额外空间给标注
+    const h = drawH + tipAbove + pad * 2 + 10;
+    const svg = _makeSVG(w, h);
+
+    const color = TYPE_COLORS[data.type] || '#3b82f6';
+    const baseY = pad + tipAbove + drawH; // 底部 Y
+    const rackTopY = pad + tipAbove; // rack 顶部 Y
+
+    // 板壳矩形
+    _rect(svg, pad, rackTopY, drawW, drawH, color + '15', color);
+
+    // 尺寸标注
+    // X 方向
+    _line(svg, pad, baseY + 5, pad + drawW, baseY + 5, '#333');
+    _text(svg, pad + drawW / 2, baseY + 12, `${sx} mm`, '3.5', 'middle', '#333');
+
+    // Z 方向
+    _line(svg, pad + drawW + 5, rackTopY, pad + drawW + 5, baseY, '#333');
+    const zt = document.createElementNS(_svgNS(), 'text');
+    zt.setAttribute('x', pad + drawW + 12);
+    zt.setAttribute('y', rackTopY + drawH / 2);
+    zt.setAttribute('font-size', '3.5');
+    zt.setAttribute('text-anchor', 'middle');
+    zt.setAttribute('fill', '#333');
+    zt.setAttribute('font-family', 'sans-serif');
+    zt.setAttribute('transform', `rotate(-90, ${pad + drawW + 12}, ${rackTopY + drawH / 2})`);
+    zt.textContent = `${sz} mm`;
+    svg.appendChild(zt);
+
+    const well = data.well;
+    const tube = data.tube;
+
+    if (grid && (well || tip || tube)) {
+        const dx = grid.dx || 0;
+        const dz = grid.dz || 0;
+        const idx = grid.item_dx || 9;
+        const nx = Math.min(grid.num_items_x || 1, 24); // 最多画24列
+        const dimColor = '#e67e22';
+
+        const child = well || tube;
+        const childTip = tip;
+
+        if (child) {
+            const csx = child.size_x || 8;
+            const csz = child.size_z || 10;
+            const bt = well ? (well.bottom_type || 'FLAT') : 'FLAT';
+
+            // 画几个代表性的孔截面
+            const nDraw = Math.min(nx, 12);
+            for (let i = 0; i < nDraw; i++) {
+                const cx = pad + dx + csx / 2 + i * idx;
+                const topZ = baseY - dz - csz;
+                const botZ = baseY - dz;
+
+                // 孔壁
+                _rect(svg, cx - csx / 2, topZ, csx, csz, '#e0e8ff', color, 0.5);
+
+                // 底部形状
+                if (bt === 'V') {
+                    // V 底 三角
+                    const triH = Math.min(csx / 2, csz * 0.3);
+                    const p = document.createElementNS(_svgNS(), 'polygon');
+                    p.setAttribute('points',
+                        `${cx - csx / 2},${botZ - triH} ${cx},${botZ} ${cx + csx / 2},${botZ - triH}`);
+                    p.setAttribute('fill', color + '33');
+                    p.setAttribute('stroke', color);
+                    p.setAttribute('stroke-width', '0.3');
+                    svg.appendChild(p);
+                } else if (bt === 'U') {
+                    // U 底 圆弧
+                    const arcR = csx / 2;
+                    const p = document.createElementNS(_svgNS(), 'path');
+                    p.setAttribute('d', `M ${cx - csx / 2} ${botZ - arcR} A ${arcR} ${arcR} 0 0 0 ${cx + csx / 2} ${botZ - arcR}`);
+                    p.setAttribute('fill', color + '33');
+                    p.setAttribute('stroke', color);
+                    p.setAttribute('stroke-width', '0.3');
+                    svg.appendChild(p);
+                }
+            }
+
+            // dz 标注
+            if (dz > 0) {
+                const lx = pad + dx + 0.5 * idx * nDraw + csx / 2 + 5;
+                _line(svg, lx, baseY, lx, baseY - dz, dimColor, '1,1');
+                _line(svg, lx - 2, baseY, lx + 2, baseY, dimColor);
+                _line(svg, lx - 2, baseY - dz, lx + 2, baseY - dz, dimColor);
+                _text(svg, lx + 4, baseY - dz / 2 + 1, `dz=${dz}`, '2.5', 'start', dimColor);
+            }
+            // dx 标注
+            if (dx > 0.1) {
+                const annY = rackTopY + 4;
+                _line(svg, pad, annY, pad + dx, annY, dimColor, '1,1');
+                _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+                _line(svg, pad + dx, annY - 2, pad + dx, annY + 2, dimColor);
+                _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+            }
+        }
+
+        if (childTip) {
+            // 枪头截面
+            const tipLen = childTip.tip_length || 50;
+            const nDraw = Math.min(nx, 12);
+            for (let i = 0; i < nDraw; i++) {
+                const cx = pad + dx + 3.5 + i * idx;
+                // 枪头顶部 = rack顶部 - 露出长度
+                const tipTopZ = rackTopY - tipAbove;
+                const drawLen = Math.min(tipLen, sz - dz + tipAbove);
+
+                // 枪头轮廓 (梯形)
+                const topW = 4;
+                const botW = 1.5;
+                const p = document.createElementNS(_svgNS(), 'polygon');
+                p.setAttribute('points',
+                    `${cx - topW / 2},${tipTopZ} ${cx + topW / 2},${tipTopZ} ${cx + botW / 2},${tipTopZ + drawLen} ${cx - botW / 2},${tipTopZ + drawLen}`);
+                p.setAttribute('fill', '#10b98133');
+                p.setAttribute('stroke', '#10b981');
+                p.setAttribute('stroke-width', '0.3');
+                svg.appendChild(p);
+            }
+
+            // dz 标注
+            if (dz > 0) {
+                const lx = pad + dx + nDraw * idx + 5;
+                _line(svg, lx, baseY, lx, baseY - dz, dimColor, '1,1');
+                _line(svg, lx - 2, baseY, lx + 2, baseY, dimColor);
+                _line(svg, lx - 2, baseY - dz, lx + 2, baseY - dz, dimColor);
+                _text(svg, lx + 4, baseY - dz / 2 + 1, `dz=${dz}`, '2.5', 'start', dimColor);
+            }
+            // dx 标注
+            if (dx > 0.1) {
+                const annY = rackTopY + 4;
+                _line(svg, pad, annY, pad + dx, annY, dimColor, '1,1');
+                _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+                _line(svg, pad + dx, annY - 2, pad + dx, annY + 2, dimColor);
+                _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+            }
+
+            // 露出长度标注线
+            if (tipAbove > 0) {
+                const annotX = pad + dx + nDraw * idx + 8;
+                // rack 顶部水平参考线
+                _line(svg, annotX - 3, rackTopY, annotX + 3, rackTopY, '#10b981');
+                // 枪头顶部水平参考线
+                _line(svg, annotX - 3, rackTopY - tipAbove, annotX + 3, rackTopY - tipAbove, '#10b981');
+                // 竖直标注线
+                _line(svg, annotX, rackTopY - tipAbove, annotX, rackTopY, '#10b981', '1,1');
+                _text(svg, annotX + 2, rackTopY - tipAbove / 2 + 1, `露出=${Math.round(tipAbove * 100) / 100}mm`, '2.5', 'start', '#10b981');
+            }
+        }
+    } else if (data.type === 'plate_adapter' && data.adapter) {
+        const adp = data.adapter;
+        const ahz = adp.adapter_hole_size_z || 10;
+        const adz = adp.dz || 0;
+        const adx_val = adp.dx != null ? adp.dx : (sx - (adp.adapter_hole_size_x || 127)) / 2;
+        const ahx = adp.adapter_hole_size_x || 127;
+
+        // 凹槽截面
+        _rect(svg, pad + adx_val, rackTopY + adz, ahx, ahz, '#ede9fe', '#8b5cf6');
+        _text(svg, pad + adx_val + ahx / 2, rackTopY + adz + ahz / 2 + 1, `hole: ${ahz}mm deep`, '3', 'middle', '#8b5cf6');
+    } else if (data.type === 'trash') {
+        _text(svg, pad + drawW / 2, rackTopY + drawH / 2, 'TRASH', '8', 'middle', '#ef4444');
+    }
+
+    container.appendChild(svg);
+    _enableZoomPan(svg, `0 0 ${w} ${h}`);
+}
+
+// ==================== 缩放 & 平移 ====================
+function _enableZoomPan(svgEl, origViewBox) {
+    const parts = origViewBox.split(' ').map(Number);
+    let vx = parts[0], vy = parts[1], vw = parts[2], vh = parts[3];
+    const origVx = vx, origVy = vy, origW = vw, origH = vh;
+    const MIN_SCALE = 0.5, MAX_SCALE = 5;
+
+    function applyViewBox() {
+        svgEl.setAttribute('viewBox', `${vx} ${vy} ${vw} ${vh}`);
+    }
+
+    function resetView() {
+        vx = origVx; vy = origVy; vw = origW; vh = origH;
+        applyViewBox();
+    }
+
+    // 将 resetView 挂到 svg 元素上，方便外部调用
+    svgEl._resetView = resetView;
+
+    svgEl.addEventListener('wheel', function (e) {
+        e.preventDefault();
+        if (e.ctrlKey) {
+            // pinch / ctrl+scroll → 缩放
+            const factor = e.deltaY > 0 ? 1.08 : 1 / 1.08;
+            const newW = vw * factor;
+            const newH = vh * factor;
+            // 限制缩放范围
+            if (newW < origW / MAX_SCALE || newW > origW * (1 / MIN_SCALE)) return;
+            // 以鼠标位置为缩放中心
+            const rect = svgEl.getBoundingClientRect();
+            const mx = (e.clientX - rect.left) / rect.width;
+            const my = (e.clientY - rect.top) / rect.height;
+            vx += (vw - newW) * mx;
+            vy += (vh - newH) * my;
+            vw = newW;
+            vh = newH;
+        } else {
+            // 普通滚轮 → 平移
+            const panSpeed = vw * 0.002;
+            vx += e.deltaX * panSpeed;
+            vy += e.deltaY * panSpeed;
+        }
+        applyViewBox();
+    }, { passive: false });
+}
+
+// 回中按钮：重置指定容器内 SVG 的 viewBox
+function resetSvgView(containerId) {
+    const container = document.getElementById(containerId);
+    if (!container) return;
+    const svg = container.querySelector('svg');
+    if (svg && svg._resetView) svg._resetView();
+}

unilabos/labware_manager/static/style.css

@@ -0,0 +1,295 @@
+/* PRCXI 耗材管理 - 全局样式 */
+
+:root {
+    --c-primary: #3b82f6;
+    --c-primary-dark: #2563eb;
+    --c-danger: #ef4444;
+    --c-warning: #f59e0b;
+    --c-success: #10b981;
+    --c-gray-50: #f9fafb;
+    --c-gray-100: #f3f4f6;
+    --c-gray-200: #e5e7eb;
+    --c-gray-300: #d1d5db;
+    --c-gray-500: #6b7280;
+    --c-gray-700: #374151;
+    --c-gray-900: #111827;
+    --radius: 8px;
+    --shadow: 0 1px 3px rgba(0,0,0,0.1);
+}
+
+* { box-sizing: border-box; margin: 0; padding: 0; }
+
+body {
+    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif;
+    background: var(--c-gray-50);
+    color: var(--c-gray-900);
+    line-height: 1.5;
+}
+
+/* 顶部导航 */
+.topbar {
+    background: #fff;
+    border-bottom: 1px solid var(--c-gray-200);
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    padding: 0 24px;
+    height: 56px;
+    position: sticky;
+    top: 0;
+    z-index: 100;
+}
+.topbar .logo {
+    font-weight: 700;
+    font-size: 1.1rem;
+    color: var(--c-gray-900);
+    text-decoration: none;
+}
+
+/* 容器 */
+.container {
+    max-width: 1400px;
+    margin: 0 auto;
+    padding: 24px;
+}
+
+/* 页头 */
+.page-header {
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    margin-bottom: 24px;
+    flex-wrap: wrap;
+    gap: 12px;
+}
+.page-header h1 { font-size: 1.5rem; }
+.header-actions { display: flex; gap: 8px; flex-wrap: wrap; }
+
+/* 按钮 */
+.btn {
+    display: inline-flex;
+    align-items: center;
+    padding: 8px 16px;
+    border-radius: 6px;
+    font-size: 0.875rem;
+    font-weight: 500;
+    cursor: pointer;
+    border: 1px solid transparent;
+    text-decoration: none;
+    transition: all 0.15s;
+    white-space: nowrap;
+}
+.btn-sm { padding: 4px 10px; font-size: 0.8rem; }
+.btn-primary { background: var(--c-primary); color: #fff; }
+.btn-primary:hover { background: var(--c-primary-dark); }
+.btn-outline { background: #fff; color: var(--c-gray-700); border-color: var(--c-gray-300); }
+.btn-outline:hover { background: var(--c-gray-100); }
+.btn-danger { background: var(--c-danger); color: #fff; }
+.btn-danger:hover { background: #dc2626; }
+.btn-warning { background: var(--c-warning); color: #fff; }
+.btn-warning:hover { background: #d97706; }
+
+/* 徽章 */
+.badge {
+    background: var(--c-gray-200);
+    color: var(--c-gray-700);
+    font-size: 0.8rem;
+    padding: 2px 8px;
+    border-radius: 12px;
+    font-weight: 500;
+    margin-left: 4px;
+}
+
+/* 状态消息 */
+.status-msg {
+    padding: 12px 16px;
+    border-radius: var(--radius);
+    margin-bottom: 16px;
+    font-size: 0.9rem;
+}
+.msg-ok { background: #d1fae5; color: #065f46; }
+.msg-err { background: #fee2e2; color: #991b1b; }
+
+/* 类型分段 */
+.type-section { margin-bottom: 32px; }
+.type-section h2 {
+    font-size: 1.1rem;
+    margin-bottom: 12px;
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+.type-dot {
+    width: 12px;
+    height: 12px;
+    border-radius: 50%;
+    display: inline-block;
+}
+
+/* 卡片网格 */
+.card-grid {
+    display: grid;
+    grid-template-columns: repeat(auto-fill, minmax(300px, 1fr));
+    gap: 12px;
+}
+
+/* 耗材卡片 */
+.labware-card {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+    cursor: pointer;
+    transition: box-shadow 0.2s, border-color 0.2s;
+}
+.labware-card:hover {
+    border-color: var(--c-primary);
+    box-shadow: 0 4px 12px rgba(59,130,246,0.15);
+}
+.card-header {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    margin-bottom: 8px;
+}
+.card-title {
+    font-weight: 600;
+    font-size: 0.9rem;
+    color: var(--c-gray-900);
+    word-break: break-all;
+}
+.card-body { font-size: 0.85rem; color: var(--c-gray-500); }
+.card-info { margin-bottom: 2px; }
+.card-info .label { color: var(--c-gray-700); font-weight: 500; }
+.card-footer {
+    margin-top: 12px;
+    display: flex;
+    gap: 8px;
+    border-top: 1px solid var(--c-gray-100);
+    padding-top: 10px;
+}
+
+/* 标签 */
+.tag {
+    font-size: 0.7rem;
+    padding: 2px 6px;
+    border-radius: 4px;
+    font-weight: 600;
+    text-transform: uppercase;
+}
+.tag-tpl { background: #dbeafe; color: #1e40af; }
+.tag-plate { background: #dbeafe; color: #1e40af; }
+.tag-tip_rack { background: #d1fae5; color: #065f46; }
+.tag-trash { background: #fee2e2; color: #991b1b; }
+.tag-tube_rack { background: #fef3c7; color: #92400e; }
+.tag-plate_adapter { background: #ede9fe; color: #5b21b6; }
+
+/* 详情页布局 */
+.detail-layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 24px;
+}
+@media (max-width: 900px) {
+    .detail-layout { grid-template-columns: 1fr; }
+}
+.detail-info, .detail-viz { display: flex; flex-direction: column; gap: 16px; }
+
+.info-card, .viz-card {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+}
+.info-card h3, .viz-card h3 {
+    font-size: 0.95rem;
+    margin-bottom: 12px;
+    color: var(--c-gray-700);
+    border-bottom: 1px solid var(--c-gray-100);
+    padding-bottom: 8px;
+}
+
+.info-table { width: 100%; font-size: 0.85rem; }
+.info-table td { padding: 4px 8px; border-bottom: 1px solid var(--c-gray-100); }
+.info-table .label { color: var(--c-gray-500); font-weight: 500; width: 140px; }
+.info-table code { background: var(--c-gray-100); padding: 1px 4px; border-radius: 3px; font-size: 0.8rem; }
+.info-table code.small { font-size: 0.7rem; }
+
+/* SVG 容器 */
+#svg-topdown, #svg-side {
+    width: 100%;
+    min-height: 200px;
+    overflow: hidden;
+}
+#svg-topdown svg, #svg-side svg {
+    display: block;
+    width: 100%;
+    height: auto;
+    touch-action: none;
+}
+
+/* 编辑页布局 */
+.edit-layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 24px;
+}
+@media (max-width: 900px) {
+    .edit-layout { grid-template-columns: 1fr; }
+}
+.edit-form { display: flex; flex-direction: column; gap: 16px; }
+.edit-preview { display: flex; flex-direction: column; gap: 16px; position: sticky; top: 72px; align-self: start; }
+
+/* 表单 */
+.form-section {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+}
+.form-section h3 {
+    font-size: 0.95rem;
+    margin-bottom: 12px;
+    color: var(--c-gray-700);
+}
+.form-row { margin-bottom: 10px; }
+.form-row label { display: block; font-size: 0.8rem; color: var(--c-gray-500); margin-bottom: 4px; font-weight: 500; }
+.form-row input, .form-row select, .form-row textarea {
+    width: 100%;
+    padding: 8px 10px;
+    border: 1px solid var(--c-gray-300);
+    border-radius: 6px;
+    font-size: 0.85rem;
+    font-family: inherit;
+}
+.form-row input:focus, .form-row select:focus, .form-row textarea:focus {
+    outline: none;
+    border-color: var(--c-primary);
+    box-shadow: 0 0 0 3px rgba(59,130,246,0.1);
+}
+.form-row-2, .form-row-3 { display: grid; gap: 12px; margin-bottom: 10px; }
+.form-row-2 { grid-template-columns: 1fr 1fr; }
+.form-row-3 { grid-template-columns: 1fr 1fr 1fr; }
+.form-row-2 label, .form-row-3 label { display: block; font-size: 0.8rem; color: var(--c-gray-500); margin-bottom: 4px; font-weight: 500; }
+.form-row-2 input, .form-row-2 select,
+.form-row-3 input, .form-row-3 select {
+    width: 100%;
+    padding: 8px 10px;
+    border: 1px solid var(--c-gray-300);
+    border-radius: 6px;
+    font-size: 0.85rem;
+}
+.form-row-2 input:focus, .form-row-3 input:focus {
+    outline: none;
+    border-color: var(--c-primary);
+    box-shadow: 0 0 0 3px rgba(59,130,246,0.1);
+}
+
+.form-actions {
+    display: flex;
+    gap: 10px;
+    margin-top: 8px;
+}
+
+/* 双语标签中文部分 */
+.label-cn { color: var(--c-gray-400, #9ca3af); font-weight: 400; margin-left: 4px; }

unilabos/labware_manager/templates/base.html

@@ -0,0 +1,24 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>{% block title %}PRCXI 耗材管理{% endblock %}</title>
+    <link rel="stylesheet" href="/static/style.css">
+    {% block head_extra %}{% endblock %}
+</head>
+<body>
+    <nav class="topbar">
+        <a href="/" class="logo">PRCXI 耗材管理</a>
+        <div class="nav-actions">
+            <a href="/labware/new" class="btn btn-primary btn-sm">+ 新建耗材</a>
+        </div>
+    </nav>
+
+    <main class="container">
+        {% block content %}{% endblock %}
+    </main>
+
+    {% block scripts %}{% endblock %}
+</body>
+</html>

unilabos/labware_manager/templates/detail.html

@@ -0,0 +1,159 @@
+{% extends "base.html" %}
+{% block title %}{{ item.function_name }} - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>{{ item.function_name }}</h1>
+    <div class="header-actions">
+        <a href="/labware/{{ item.function_name }}/edit" class="btn btn-primary">编辑</a>
+        <a href="/" class="btn btn-outline">返回列表</a>
+    </div>
+</div>
+
+<div class="detail-layout">
+    <!-- 左侧: 信息 -->
+    <div class="detail-info">
+        <div class="info-card">
+            <h3>基本信息</h3>
+            <table class="info-table">
+                <tr><td class="label">类型</td><td><span class="tag tag-{{ item.type }}">{{ item.type }}</span></td></tr>
+                <tr><td class="label">函数名</td><td><code>{{ item.function_name }}</code></td></tr>
+                <tr><td class="label">Model</td><td>{{ item.model or '-' }}</td></tr>
+                {% if item.plate_type %}
+                <tr><td class="label">Plate Type</td><td>{{ item.plate_type }}</td></tr>
+                {% endif %}
+                <tr><td class="label">Docstring</td><td>{{ item.docstring or '-' }}</td></tr>
+            </table>
+        </div>
+
+        <div class="info-card">
+            <h3>物理尺寸 (mm)</h3>
+            <table class="info-table">
+                <tr><td class="label">X</td><td>{{ item.size_x }}</td></tr>
+                <tr><td class="label">Y</td><td>{{ item.size_y }}</td></tr>
+                <tr><td class="label">Z</td><td>{{ item.size_z }}</td></tr>
+            </table>
+        </div>
+
+        <div class="info-card">
+            <h3>材料信息</h3>
+            <table class="info-table">
+                <tr><td class="label">UUID</td><td><code class="small">{{ item.material_info.uuid }}</code></td></tr>
+                <tr><td class="label">Code</td><td>{{ item.material_info.Code }}</td></tr>
+                <tr><td class="label">Name</td><td>{{ item.material_info.Name }}</td></tr>
+                {% if item.material_info.materialEnum is not none %}
+                <tr><td class="label">materialEnum</td><td>{{ item.material_info.materialEnum }}</td></tr>
+                {% endif %}
+                {% if item.material_info.SupplyType is not none %}
+                <tr><td class="label">SupplyType</td><td>{{ item.material_info.SupplyType }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+
+        {% if item.grid %}
+        <div class="info-card">
+            <h3>网格排列</h3>
+            <table class="info-table">
+                <tr><td class="label">列 x 行</td><td>{{ item.grid.num_items_x }} x {{ item.grid.num_items_y }}</td></tr>
+                <tr><td class="label">dx, dy, dz</td><td>{{ item.grid.dx }}, {{ item.grid.dy }}, {{ item.grid.dz }}</td></tr>
+                <tr><td class="label">item_dx, item_dy</td><td>{{ item.grid.item_dx }}, {{ item.grid.item_dy }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.well %}
+        <div class="info-card">
+            <h3>孔参数 (Well)</h3>
+            <table class="info-table">
+                <tr><td class="label">尺寸</td><td>{{ item.well.size_x }} x {{ item.well.size_y }} x {{ item.well.size_z }}</td></tr>
+                {% if item.well.max_volume is not none %}
+                <tr><td class="label">最大体积</td><td>{{ item.well.max_volume }} uL</td></tr>
+                {% endif %}
+                <tr><td class="label">底部类型</td><td>{{ item.well.bottom_type }}</td></tr>
+                <tr><td class="label">截面类型</td><td>{{ item.well.cross_section_type }}</td></tr>
+                {% if item.well.material_z_thickness is not none %}
+                <tr><td class="label">材料Z厚度</td><td>{{ item.well.material_z_thickness }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.tip %}
+        <div class="info-card">
+            <h3>枪头参数 (Tip)</h3>
+            <table class="info-table">
+                <tr><td class="label">Spot 尺寸</td><td>{{ item.tip.spot_size_x }} x {{ item.tip.spot_size_y }} x {{ item.tip.spot_size_z }}</td></tr>
+                <tr><td class="label">容量</td><td>{{ item.tip.tip_volume }} uL</td></tr>
+                <tr><td class="label">长度</td><td>{{ item.tip.tip_length }} mm</td></tr>
+                <tr><td class="label">取枪头插入深度</td><td>{{ item.tip.tip_fitting_depth }} mm</td></tr>
+                {% if item.tip.tip_above_rack_length is not none %}
+                <tr><td class="label">枪头露出枪头盒长度</td><td>{{ item.tip.tip_above_rack_length }} mm</td></tr>
+                {% endif %}
+                <tr><td class="label">有滤芯</td><td>{{ item.tip.has_filter }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.tube %}
+        <div class="info-card">
+            <h3>管参数 (Tube)</h3>
+            <table class="info-table">
+                <tr><td class="label">尺寸</td><td>{{ item.tube.size_x }} x {{ item.tube.size_y }} x {{ item.tube.size_z }}</td></tr>
+                <tr><td class="label">最大体积</td><td>{{ item.tube.max_volume }} uL</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.adapter %}
+        <div class="info-card">
+            <h3>适配器参数</h3>
+            <table class="info-table">
+                <tr><td class="label">Hole 尺寸</td><td>{{ item.adapter.adapter_hole_size_x }} x {{ item.adapter.adapter_hole_size_y }} x {{ item.adapter.adapter_hole_size_z }}</td></tr>
+                <tr><td class="label">dx, dy, dz</td><td>{{ item.adapter.dx }}, {{ item.adapter.dy }}, {{ item.adapter.dz }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        <div class="info-card">
+            <h3>Registry</h3>
+            <table class="info-table">
+                <tr><td class="label">分类</td><td>{{ item.registry_category | join(' / ') }}</td></tr>
+                <tr><td class="label">描述</td><td>{{ item.registry_description }}</td></tr>
+                <tr><td class="label">模板匹配</td><td>{{ item.include_in_template_matching }}</td></tr>
+                {% if item.template_kind %}
+                <tr><td class="label">模板类型</td><td>{{ item.template_kind }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+    </div>
+
+    <!-- 右侧: 可视化 -->
+    <div class="detail-viz">
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                俯视图 (Top-Down)
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-topdown')">回中</button>
+            </h3>
+            <div id="svg-topdown"></div>
+        </div>
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                侧面截面图 (Side Profile)
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-side')">回中</button>
+            </h3>
+            <div id="svg-side"></div>
+        </div>
+    </div>
+</div>
+{% endblock %}
+
+{% block scripts %}
+<script src="/static/labware_viz.js"></script>
+<script>
+    const itemData = {{ item.model_dump() | tojson }};
+    document.addEventListener('DOMContentLoaded', () => {
+        renderTopDown(document.getElementById('svg-topdown'), itemData);
+        renderSideProfile(document.getElementById('svg-side'), itemData);
+    });
+</script>
+{% endblock %}

unilabos/labware_manager/templates/edit.html

@@ -0,0 +1,257 @@
+{% extends "base.html" %}
+{% block title %}{% if is_new %}新建耗材{% else %}编辑 {{ item.function_name }}{% endif %} - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>{% if is_new %}新建耗材{% else %}编辑 {{ item.function_name }}{% endif %}</h1>
+    <div class="header-actions">
+        <a href="/" class="btn btn-outline">返回列表</a>
+    </div>
+</div>
+
+<div id="status-msg" class="status-msg" style="display:none;"></div>
+
+<div class="edit-layout">
+    <!-- 左侧: 表单 -->
+    <div class="edit-form">
+        <form id="labware-form" onsubmit="return false;">
+            <!-- 基本信息 -->
+            <div class="form-section">
+                <h3>基本信息</h3>
+                <div class="form-row">
+                    <label>类型</label>
+                    <select name="type" id="f-type" onchange="onTypeChange()">
+                        <option value="plate" {% if labware_type == 'plate' %}selected{% endif %}>Plate (孔板)</option>
+                        <option value="tip_rack" {% if labware_type == 'tip_rack' %}selected{% endif %}>TipRack (吸头盒)</option>
+                        <option value="trash" {% if labware_type == 'trash' %}selected{% endif %}>Trash (废弃槽)</option>
+                        <option value="tube_rack" {% if labware_type == 'tube_rack' %}selected{% endif %}>TubeRack (管架)</option>
+                        <option value="plate_adapter" {% if labware_type == 'plate_adapter' %}selected{% endif %}>PlateAdapter (适配器)</option>
+                    </select>
+                </div>
+                <div class="form-row">
+                    <label>函数名</label>
+                    <input type="text" name="function_name" id="f-function_name"
+                           value="{{ item.function_name if item else 'PRCXI_new_labware' }}"
+                           placeholder="PRCXI_xxx">
+                </div>
+                <div class="form-row">
+                    <label>Model</label>
+                    <input type="text" name="model" id="f-model"
+                           value="{{ item.model if item and item.model else '' }}">
+                </div>
+                <div class="form-row">
+                    <label>Docstring</label>
+                    <textarea name="docstring" id="f-docstring" rows="2">{{ item.docstring if item else '' }}</textarea>
+                </div>
+                <div class="form-row" id="row-plate_type" style="display:none;">
+                    <label>Plate Type</label>
+                    <select name="plate_type" id="f-plate_type">
+                        <option value="">-</option>
+                        <option value="skirted" {% if item and item.plate_type == 'skirted' %}selected{% endif %}>skirted</option>
+                        <option value="semi-skirted" {% if item and item.plate_type == 'semi-skirted' %}selected{% endif %}>semi-skirted</option>
+                        <option value="non-skirted" {% if item and item.plate_type == 'non-skirted' %}selected{% endif %}>non-skirted</option>
+                    </select>
+                </div>
+            </div>
+
+            <!-- 物理尺寸 -->
+            <div class="form-section">
+                <h3>物理尺寸 Physical Dimensions (mm)</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">板长</span></label><input type="number" step="any" name="size_x" id="f-size_x" value="{{ item.size_x if item else 127 }}"></div>
+                    <div><label>size_y <span class="label-cn">板宽</span></label><input type="number" step="any" name="size_y" id="f-size_y" value="{{ item.size_y if item else 85 }}"></div>
+                    <div><label>size_z <span class="label-cn">板高</span></label><input type="number" step="any" name="size_z" id="f-size_z" value="{{ item.size_z if item else 20 }}"></div>
+                </div>
+            </div>
+
+            <!-- 材料信息 -->
+            <div class="form-section">
+                <h3>材料信息</h3>
+                <div class="form-row">
+                    <label>UUID</label>
+                    <input type="text" name="mi_uuid" id="f-mi_uuid"
+                           value="{{ item.material_info.uuid if item else '' }}">
+                </div>
+                <div class="form-row-2">
+                    <div><label>Code</label><input type="text" name="mi_code" id="f-mi_code" value="{{ item.material_info.Code if item else '' }}"></div>
+                    <div><label>Name</label><input type="text" name="mi_name" id="f-mi_name" value="{{ item.material_info.Name if item else '' }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>materialEnum</label><input type="number" name="mi_menum" id="f-mi_menum" value="{{ item.material_info.materialEnum if item and item.material_info.materialEnum is not none else '' }}"></div>
+                    <div><label>SupplyType</label><input type="number" name="mi_stype" id="f-mi_stype" value="{{ item.material_info.SupplyType if item and item.material_info.SupplyType is not none else '' }}"></div>
+                </div>
+            </div>
+
+            <!-- 网格排列 (plate/tip_rack/tube_rack) -->
+            <div class="form-section" id="section-grid" style="display:none;">
+                <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                    网格排列 Grid Layout
+                    <button type="button" class="btn btn-sm btn-outline" onclick="autoCenter()">自动居中 Auto-Center</button>
+                </h3>
+                <div class="form-row-2">
+                    <div><label>num_items_x <span class="label-cn">列数</span></label><input type="number" name="grid_nx" id="f-grid_nx" value="{{ item.grid.num_items_x if item and item.grid else 12 }}"></div>
+                    <div><label>num_items_y <span class="label-cn">行数</span></label><input type="number" name="grid_ny" id="f-grid_ny" value="{{ item.grid.num_items_y if item and item.grid else 8 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>dx <span class="label-cn">首孔X偏移</span></label><input type="number" step="any" name="grid_dx" id="f-grid_dx" value="{{ item.grid.dx if item and item.grid else 0 }}"></div>
+                    <div><label>dy <span class="label-cn">首孔Y偏移</span></label><input type="number" step="any" name="grid_dy" id="f-grid_dy" value="{{ item.grid.dy if item and item.grid else 0 }}"></div>
+                    <div><label>dz <span class="label-cn">孔底Z偏移</span></label><input type="number" step="any" name="grid_dz" id="f-grid_dz" value="{{ item.grid.dz if item and item.grid else 0 }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>item_dx <span class="label-cn">列间距</span></label><input type="number" step="any" name="grid_idx" id="f-grid_idx" value="{{ item.grid.item_dx if item and item.grid else 9 }}"></div>
+                    <div><label>item_dy <span class="label-cn">行间距</span></label><input type="number" step="any" name="grid_idy" id="f-grid_idy" value="{{ item.grid.item_dy if item and item.grid else 9 }}"></div>
+                </div>
+            </div>
+
+            <!-- Well 参数 (plate) -->
+            <div class="form-section" id="section-well" style="display:none;">
+                <h3>孔参数 Well</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">孔长</span></label><input type="number" step="any" name="well_sx" id="f-well_sx" value="{{ item.well.size_x if item and item.well else 8 }}"></div>
+                    <div><label>size_y <span class="label-cn">孔宽</span></label><input type="number" step="any" name="well_sy" id="f-well_sy" value="{{ item.well.size_y if item and item.well else 8 }}"></div>
+                    <div><label>size_z <span class="label-cn">孔深</span></label><input type="number" step="any" name="well_sz" id="f-well_sz" value="{{ item.well.size_z if item and item.well else 10 }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>max_volume <span class="label-cn">最大容量 (uL)</span></label><input type="number" step="any" name="well_vol" id="f-well_vol" value="{{ item.well.max_volume if item and item.well and item.well.max_volume is not none else '' }}"></div>
+                    <div><label>material_z_thickness <span class="label-cn">底壁厚度</span></label><input type="number" step="any" name="well_mzt" id="f-well_mzt" value="{{ item.well.material_z_thickness if item and item.well and item.well.material_z_thickness is not none else '' }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div>
+                        <label>bottom_type <span class="label-cn">底部形状</span></label>
+                        <select name="well_bt" id="f-well_bt">
+                            <option value="FLAT" {% if item and item.well and item.well.bottom_type == 'FLAT' %}selected{% endif %}>FLAT</option>
+                            <option value="V" {% if item and item.well and item.well.bottom_type == 'V' %}selected{% endif %}>V</option>
+                            <option value="U" {% if item and item.well and item.well.bottom_type == 'U' %}selected{% endif %}>U</option>
+                        </select>
+                    </div>
+                    <div>
+                        <label>cross_section_type <span class="label-cn">截面形状</span></label>
+                        <select name="well_cs" id="f-well_cs">
+                            <option value="CIRCLE" {% if item and item.well and item.well.cross_section_type == 'CIRCLE' %}selected{% endif %}>CIRCLE</option>
+                            <option value="RECTANGLE" {% if item and item.well and item.well.cross_section_type == 'RECTANGLE' %}selected{% endif %}>RECTANGLE</option>
+                        </select>
+                    </div>
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="has_vf" id="f-has_vf" {% if item and item.volume_functions %}checked{% endif %}> 使用 volume_functions (rectangle)</label>
+                </div>
+            </div>
+
+            <!-- Tip 参数 (tip_rack) -->
+            <div class="form-section" id="section-tip" style="display:none;">
+                <h3>枪头参数 Tip</h3>
+                <div class="form-row-3">
+                    <div><label>spot_size_x <span class="label-cn">卡槽长</span></label><input type="number" step="any" name="tip_sx" id="f-tip_sx" value="{{ item.tip.spot_size_x if item and item.tip else 7 }}"></div>
+                    <div><label>spot_size_y <span class="label-cn">卡槽宽</span></label><input type="number" step="any" name="tip_sy" id="f-tip_sy" value="{{ item.tip.spot_size_y if item and item.tip else 7 }}"></div>
+                    <div><label>spot_size_z <span class="label-cn">卡槽高</span></label><input type="number" step="any" name="tip_sz" id="f-tip_sz" value="{{ item.tip.spot_size_z if item and item.tip else 0 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>tip_volume <span class="label-cn">枪头容量 (uL)</span></label><input type="number" step="any" name="tip_vol" id="f-tip_vol" value="{{ item.tip.tip_volume if item and item.tip else 300 }}"></div>
+                    <div><label>tip_length <span class="label-cn">枪头总长度 (mm)</span></label><input type="number" step="any" name="tip_len" id="f-tip_len" value="{{ item.tip.tip_length if item and item.tip else 60 }}"></div>
+                    <div><label>fitting_depth <span class="label-cn">取枪头时插入的长度 (mm)</span></label><input type="number" step="any" name="tip_dep" id="f-tip_dep" value="{{ item.tip.tip_fitting_depth if item and item.tip else 51 }}"></div>
+                </div>
+                <div class="form-row">
+                    <label>tip_above_rack_length <span class="label-cn">枪头在枪头盒上方的部分的长度 (mm)</span></label>
+                    <input type="number" step="any" name="tip_above" id="f-tip_above"
+                           value="{{ item.tip.tip_above_rack_length if item and item.tip and item.tip.tip_above_rack_length is not none else '' }}"
+                           placeholder="tip_length - (size_z - dz)">
+                    <small style="color:#888;margin-top:2px;">公式: tip_length = tip_above + size_z - dz；填 tip_above 自动算 dz，填 dz 自动算 tip_above</small>
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="tip_filter" id="f-tip_filter" {% if item and item.tip and item.tip.has_filter %}checked{% endif %}> has_filter</label>
+                </div>
+            </div>
+
+            <!-- Tube 参数 (tube_rack) -->
+            <div class="form-section" id="section-tube" style="display:none;">
+                <h3>管参数 Tube</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">管径X</span></label><input type="number" step="any" name="tube_sx" id="f-tube_sx" value="{{ item.tube.size_x if item and item.tube else 10.6 }}"></div>
+                    <div><label>size_y <span class="label-cn">管径Y</span></label><input type="number" step="any" name="tube_sy" id="f-tube_sy" value="{{ item.tube.size_y if item and item.tube else 10.6 }}"></div>
+                    <div><label>size_z <span class="label-cn">管高</span></label><input type="number" step="any" name="tube_sz" id="f-tube_sz" value="{{ item.tube.size_z if item and item.tube else 40 }}"></div>
+                </div>
+                <div class="form-row">
+                    <label>max_volume <span class="label-cn">最大容量 (uL)</span></label>
+                    <input type="number" step="any" name="tube_vol" id="f-tube_vol" value="{{ item.tube.max_volume if item and item.tube else 1500 }}">
+                </div>
+            </div>
+
+            <!-- Adapter 参数 (plate_adapter) -->
+            <div class="form-section" id="section-adapter" style="display:none;">
+                <h3>适配器参数 Adapter</h3>
+                <div class="form-row-3">
+                    <div><label>hole_size_x <span class="label-cn">凹槽长</span></label><input type="number" step="any" name="adp_hsx" id="f-adp_hsx" value="{{ item.adapter.adapter_hole_size_x if item and item.adapter else 127.76 }}"></div>
+                    <div><label>hole_size_y <span class="label-cn">凹槽宽</span></label><input type="number" step="any" name="adp_hsy" id="f-adp_hsy" value="{{ item.adapter.adapter_hole_size_y if item and item.adapter else 85.48 }}"></div>
+                    <div><label>hole_size_z <span class="label-cn">凹槽深</span></label><input type="number" step="any" name="adp_hsz" id="f-adp_hsz" value="{{ item.adapter.adapter_hole_size_z if item and item.adapter else 10 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>dx <span class="label-cn">X偏移</span></label><input type="number" step="any" name="adp_dx" id="f-adp_dx" value="{{ item.adapter.dx if item and item.adapter and item.adapter.dx is not none else '' }}"></div>
+                    <div><label>dy <span class="label-cn">Y偏移</span></label><input type="number" step="any" name="adp_dy" id="f-adp_dy" value="{{ item.adapter.dy if item and item.adapter and item.adapter.dy is not none else '' }}"></div>
+                    <div><label>dz <span class="label-cn">Z偏移</span></label><input type="number" step="any" name="adp_dz" id="f-adp_dz" value="{{ item.adapter.dz if item and item.adapter else 0 }}"></div>
+                </div>
+            </div>
+
+            <!-- Registry -->
+            <div class="form-section">
+                <h3>Registry / Template</h3>
+                <div class="form-row">
+                    <label>registry_category (逗号分隔)</label>
+                    <input type="text" name="reg_cat" id="f-reg_cat"
+                           value="{{ item.registry_category | join(',') if item else 'prcxi,plates' }}">
+                </div>
+                <div class="form-row">
+                    <label>registry_description</label>
+                    <input type="text" name="reg_desc" id="f-reg_desc"
+                           value="{{ item.registry_description if item else '' }}">
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="in_tpl" id="f-in_tpl" {% if item and item.include_in_template_matching %}checked{% endif %}> include_in_template_matching</label>
+                </div>
+                <div class="form-row" id="row-tpl_kind">
+                    <label>template_kind</label>
+                    <input type="text" name="tpl_kind" id="f-tpl_kind"
+                           value="{{ item.template_kind if item and item.template_kind else '' }}">
+                </div>
+            </div>
+
+            <div class="form-actions">
+                <button type="button" class="btn btn-primary" onclick="saveForm()">
+                    {% if is_new %}创建{% else %}保存{% endif %}
+                </button>
+                <a href="/" class="btn btn-outline">取消</a>
+            </div>
+        </form>
+    </div>
+
+    <!-- 右侧: 实时预览 -->
+    <div class="edit-preview">
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                预览: 俯视图
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-topdown')">回中</button>
+            </h3>
+            <div id="svg-topdown"></div>
+        </div>
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                预览: 侧面截面图
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-side')">回中</button>
+            </h3>
+            <div id="svg-side"></div>
+        </div>
+    </div>
+</div>
+{% endblock %}
+
+{% block scripts %}
+<script src="/static/labware_viz.js"></script>
+<script src="/static/form_handler.js"></script>
+<script>
+    const IS_NEW = {{ 'true' if is_new else 'false' }};
+    const ITEM_ID = "{{ item.function_name if item else '' }}";
+    document.addEventListener('DOMContentLoaded', () => {
+        onTypeChange();
+        updatePreview();
+    });
+</script>
+{% endblock %}

unilabos/labware_manager/templates/index.html

@@ -0,0 +1,131 @@
+{% extends "base.html" %}
+{% block title %}耗材列表 - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>耗材列表 <span class="badge">{{ total }}</span></h1>
+    <div class="header-actions">
+        <button class="btn btn-outline" onclick="importFromCode()">从代码导入</button>
+        <button class="btn btn-outline" onclick="generateCode(true)">生成代码 (测试)</button>
+        <button class="btn btn-warning" onclick="generateCode(false)">生成代码 (正式)</button>
+        <a href="/labware/new" class="btn btn-primary">+ 新建耗材</a>
+    </div>
+</div>
+
+<div id="status-msg" class="status-msg" style="display:none;"></div>
+
+{% set type_labels = {
+    "plate": "孔板 (Plate)",
+    "tip_rack": "吸头盒 (TipRack)",
+    "trash": "废弃槽 (Trash)",
+    "tube_rack": "管架 (TubeRack)",
+    "plate_adapter": "适配器 (PlateAdapter)"
+} %}
+{% set type_colors = {
+    "plate": "#3b82f6",
+    "tip_rack": "#10b981",
+    "trash": "#ef4444",
+    "tube_rack": "#f59e0b",
+    "plate_adapter": "#8b5cf6"
+} %}
+
+{% for type_key in ["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"] %}
+{% if type_key in groups %}
+<section class="type-section">
+    <h2>
+        <span class="type-dot" style="background:{{ type_colors[type_key] }}"></span>
+        {{ type_labels[type_key] }}
+        <span class="badge">{{ groups[type_key]|length }}</span>
+    </h2>
+    <div class="card-grid">
+        {% for item in groups[type_key] %}
+        <div class="labware-card" onclick="location.href='/labware/{{ item.function_name }}'">
+            <div class="card-header">
+                <span class="card-title">{{ item.function_name }}</span>
+                {% if item.include_in_template_matching %}
+                <span class="tag tag-tpl">TPL</span>
+                {% endif %}
+            </div>
+            <div class="card-body">
+                <div class="card-info">
+                    <span class="label">Code:</span> {{ item.material_info.Code or '-' }}
+                </div>
+                <div class="card-info">
+                    <span class="label">名称:</span> {{ item.material_info.Name or '-' }}
+                </div>
+                <div class="card-info">
+                    <span class="label">尺寸:</span>
+                    {{ item.size_x }} x {{ item.size_y }} x {{ item.size_z }} mm
+                </div>
+                {% if item.grid %}
+                <div class="card-info">
+                    <span class="label">网格:</span>
+                    {{ item.grid.num_items_x }} x {{ item.grid.num_items_y }}
+                </div>
+                {% endif %}
+            </div>
+            <div class="card-footer">
+                <a href="/labware/{{ item.function_name }}/edit" class="btn btn-sm btn-outline"
+                   onclick="event.stopPropagation()">编辑</a>
+                <button class="btn btn-sm btn-danger"
+                        onclick="event.stopPropagation(); deleteItem('{{ item.function_name }}')">删除</button>
+            </div>
+        </div>
+        {% endfor %}
+    </div>
+</section>
+{% endif %}
+{% endfor %}
+{% endblock %}
+
+{% block scripts %}
+<script>
+function showMsg(text, ok) {
+    const el = document.getElementById('status-msg');
+    el.textContent = text;
+    el.className = 'status-msg ' + (ok ? 'msg-ok' : 'msg-err');
+    el.style.display = 'block';
+    setTimeout(() => el.style.display = 'none', 4000);
+}
+
+async function importFromCode() {
+    if (!confirm('将从现有 prcxi_labware.py + YAML 重新导入，覆盖当前 JSON 数据？')) return;
+    const r = await fetch('/api/import-from-code', {method:'POST'});
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg('导入成功: ' + d.count + ' 个耗材', true);
+        setTimeout(() => location.reload(), 1000);
+    } else {
+        showMsg('导入失败: ' + JSON.stringify(d), false);
+    }
+}
+
+async function generateCode(testMode) {
+    const label = testMode ? '测试' : '正式';
+    if (!testMode && !confirm('正式模式将覆盖原有 prcxi_labware.py 和 YAML 文件，确定？')) return;
+    const r = await fetch('/api/generate-code', {
+        method: 'POST',
+        headers: {'Content-Type':'application/json'},
+        body: JSON.stringify({test_mode: testMode})
+    });
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg(`[${label}] 生成成功: ${d.python_file}`, true);
+    } else {
+        showMsg('生成失败: ' + JSON.stringify(d), false);
+    }
+}
+
+async function deleteItem(id) {
+    if (!confirm('确定删除 ' + id + '？')) return;
+    const r = await fetch('/api/labware/' + id, {method:'DELETE'});
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg('已删除', true);
+        setTimeout(() => location.reload(), 500);
+    } else {
+        showMsg('删除失败', false);
+    }
+}
+</script>
+{% endblock %}

unilabos/labware_manager/yaml_gen.py

@@ -0,0 +1,119 @@
+"""JSON → Registry YAML 文件生成。
+
+按 type 分组输出到对应 YAML 文件（与现有格式完全一致）。
+"""
+
+from __future__ import annotations
+
+import shutil
+from collections import defaultdict
+from pathlib import Path
+from typing import Dict, List
+
+import yaml
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_REGISTRY_DIR = Path(__file__).resolve().parents[1] / "registry" / "resources" / "prcxi"
+
+# type → yaml 文件名
+_TYPE_TO_YAML = {
+    "plate": "plates",
+    "tip_rack": "tip_racks",
+    "trash": "trash",
+    "tube_rack": "tube_racks",
+    "plate_adapter": "plate_adapters",
+}
+
+
+def _build_entry(item: LabwareItem) -> dict:
+    """构建单个 YAML 条目（与现有格式完全一致）。"""
+    mi = item.material_info
+    desc = item.registry_description
+    if not desc:
+        desc = f'{mi.Name} (Code: {mi.Code})' if mi.Name and mi.Code else item.function_name
+
+    return {
+        "category": list(item.registry_category),
+        "class": {
+            "module": f"unilabos.devices.liquid_handling.prcxi.prcxi_labware:{item.function_name}",
+            "type": "pylabrobot",
+        },
+        "description": desc,
+        "handles": [],
+        "icon": "",
+        "init_param_schema": {},
+        "version": "1.0.0",
+    }
+
+
+class _YAMLDumper(yaml.SafeDumper):
+    """自定义 Dumper: 空列表输出为 []，空字典输出为 {}。"""
+    pass
+
+
+def _represent_list(dumper, data):
+    if not data:
+        return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=True)
+    return dumper.represent_sequence("tag:yaml.org,2002:seq", data)
+
+
+def _represent_dict(dumper, data):
+    if not data:
+        return dumper.represent_mapping("tag:yaml.org,2002:map", data, flow_style=True)
+    return dumper.represent_mapping("tag:yaml.org,2002:map", data)
+
+
+def _represent_str(dumper, data):
+    if '\n' in data or ':' in data or "'" in data:
+        return dumper.represent_scalar("tag:yaml.org,2002:str", data, style="'")
+    return dumper.represent_scalar("tag:yaml.org,2002:str", data)
+
+
+_YAMLDumper.add_representer(list, _represent_list)
+_YAMLDumper.add_representer(dict, _represent_dict)
+_YAMLDumper.add_representer(str, _represent_str)
+
+
+def generate_yaml(db: LabwareDB, test_mode: bool = True) -> List[Path]:
+    """生成所有 registry YAML 文件，返回输出文件路径列表。"""
+    suffix = "_test" if test_mode else ""
+
+    # 按 type 分组
+    groups: Dict[str, Dict[str, dict]] = defaultdict(dict)
+    for item in db.items:
+        yaml_key = _TYPE_TO_YAML.get(item.type)
+        if yaml_key is None:
+            continue
+        groups[yaml_key][item.function_name] = _build_entry(item)
+
+    out_paths: List[Path] = []
+    for yaml_key, entries in groups.items():
+        out_path = _REGISTRY_DIR / f"{yaml_key}{suffix}.yaml"
+
+        # 备份
+        if out_path.exists():
+            bak = out_path.with_suffix(".yaml.bak")
+            shutil.copy2(out_path, bak)
+
+        # 按函数名排序
+        sorted_entries = dict(sorted(entries.items()))
+
+        content = yaml.dump(sorted_entries, Dumper=_YAMLDumper, allow_unicode=True,
+                           default_flow_style=False, sort_keys=False)
+        out_path.write_text(content, encoding="utf-8")
+        out_paths.append(out_path)
+
+    return out_paths
+
+
+if __name__ == "__main__":
+    from unilabos.labware_manager.importer import load_db
+    db = load_db()
+    if not db.items:
+        print("labware_db.json 为空，请先运行 importer.py")
+    else:
+        paths = generate_yaml(db, test_mode=True)
+        print(f"已生成 {len(paths)} 个 YAML 文件:")
+        for p in paths:
+            print(f"  {p}")

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_dispensing_station.yaml

@@ -24,39 +24,321 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: brief_step_parameters参数
           type: object
         type: UniLabJsonCommand
-      auto-compute_experiment_design:
+      auto-process_order_finish_report:
         feedback: {}
         goal: {}
         goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
+          report_request: null
+          used_materials: null
         handles: {}
         placeholder_keys: {}
         result: {}
         schema:
           description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+                used_materials:
+                  type: string
+              required:
+              - report_request
+              - used_materials
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: process_order_finish_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
+      batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          speed: speed
+          temperature: temperature
+          titration: titration
+        goal_default:
+          delay_time: null
+          hold_m_name: null
+          liquid_material_name: NMP
+          speed: null
+          temperature: null
+          titration: null
+        handles:
+          input:
+          - data_key: titration
+            data_source: handle
+            data_type: object
+            handler_key: titration
+            io_type: source
+            label: Titration Data From Calculation Node
+          output:
+          - data_key: return_info
+            data_source: executor
+            data_type: string
+            handler_key: BATCH_CREATE_RESULT
+            io_type: sink
+            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
+        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:
+              title: BatchCreate9010VialFeedingTasks_Feedback
+            goal:
+              properties:
+                delay_time:
+                  description: 延迟时间(秒),默认600
+                  type: string
+                hold_m_name:
+                  description: 库位名称,如"C01",必填参数
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 10%物料的液体物料名称,默认为"NMP"
+                  type: string
+                speed:
+                  description: 搅拌速度,默认400
+                  type: string
+                temperature:
+                  description: 温度(℃),默认40
+                  type: string
+                titration:
+                  description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
+                    titration_solvent(滴定溶液体积mL)'
+                  type: string
+              required:
+              - titration
+              title: BatchCreate9010VialFeedingTasks_Goal
+              type: object
+            result:
+              title: BatchCreate9010VialFeedingTasks_Result
+              type: string
+          required:
+          - goal
+          title: batch_create_90_10_vial_feeding_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          liquid_material_name: liquid_material_name
+          solutions: solutions
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: null
+          liquid_material_name: NMP
+          solutions: null
+          speed: null
+          temperature: null
+        handles:
+          input:
+          - data_key: solutions
+            data_source: handle
+            data_type: array
+            handler_key: solutions
+            io_type: source
+            label: Solution Data From Python
+          output:
+          - data_key: return_info
+            data_source: executor
+            data_type: string
+            handler_key: BATCH_CREATE_RESULT
+            io_type: sink
+            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
+        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:
+              title: BatchCreateDiamineSolutionTasks_Feedback
+            goal:
+              properties:
+                delay_time:
+                  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:
+                  default: NMP
+                  description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
+                  type: string
+                solutions:
+                  description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
+                    solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
+                    5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
+                    4.5, "solvent_volume": 18}]'
+                  type: string
+                speed:
+                  description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
+                  type: string
+                temperature:
+                  description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
+                  type: string
+              required:
+              - solutions
+              title: BatchCreateDiamineSolutionTasks_Goal
+              type: object
+            result:
+              title: BatchCreateDiamineSolutionTasks_Result
+              type: string
+          required:
+          - goal
+          title: batch_create_diamine_solution_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      compute_experiment_design:
+        feedback: {}
+        goal:
+          m_tot: m_tot
+          ratio: ratio
+          titration_percent: titration_percent
+          wt_percent: wt_percent
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles:
+          output:
+          - data_key: solutions
+            data_source: executor
+            data_type: array
+            handler_key: solutions
+            io_type: sink
+            label: Solution Data From Python
+          - data_key: titration
+            data_source: executor
+            data_type: object
+            handler_key: titration
+            io_type: sink
+            label: Titration Data From Calculation Node
+          - data_key: solvents
+            data_source: executor
+            data_type: object
+            handler_key: solvents
+            io_type: sink
+            label: Solvents Data From Calculation Node
+          - data_key: feeding_order
+            data_source: executor
+            data_type: array
+            handler_key: feeding_order
+            io_type: sink
+            label: Feeding Order Data From Calculation Node
+        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:
             feedback: {}
             goal:
               properties:
                 m_tot:
                   default: '70'
+                  description: 总质量(g)
                   type: string
                 ratio:
+                  description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
                   type: object
                 titration_percent:
                   default: '0.03'
+                  description: 滴定比例(10%部分)
                   type: string
                 wt_percent:
                   default: '0.25'
+                  description: 目标固含质量分数
                   type: string
               required:
               - ratio
@@ -95,305 +377,6 @@ bioyond_dispensing_station:
           title: compute_experiment_design参数
           type: object
         type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
-      batch_create_90_10_vial_feeding_tasks:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          liquid_material_name: liquid_material_name
-          speed: speed
-          temperature: temperature
-          titration: titration
-        goal_default:
-          delay_time: '600'
-          hold_m_name: ''
-          liquid_material_name: NMP
-          speed: '400'
-          temperature: '40'
-          titration: ''
-        handles:
-          input:
-          - data_key: titration
-            data_source: handle
-            data_type: object
-            handler_key: titration
-            io_type: source
-            label: Titration Data From Calculation Node
-          output:
-          - data_key: return_info
-            data_source: executor
-            data_type: string
-            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
-        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:
-                  description: 库位名称,如"C01",必填参数
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  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:
-                  description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
-                    titration_solvent(滴定溶液体积mL)'
-                  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
-          required:
-          - goal
-          title: BatchCreate9010VialFeedingTasks
-          type: object
-        type: UniLabJsonCommand
-      batch_create_diamine_solution_tasks:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          liquid_material_name: liquid_material_name
-          solutions: solutions
-          speed: speed
-          temperature: temperature
-        goal_default:
-          delay_time: '600'
-          liquid_material_name: NMP
-          solutions: ''
-          speed: '400'
-          temperature: '20'
-        handles:
-          input:
-          - data_key: solutions
-            data_source: handle
-            data_type: array
-            handler_key: solutions
-            io_type: source
-            label: Solution Data From Python
-          output:
-          - data_key: return_info
-            data_source: executor
-            data_type: string
-            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
-        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:
-                  default: NMP
-                  description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
-                  type: string
-                solutions:
-                  description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
-                    solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
-                    5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
-                    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:
-              - solutions
-              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
-          required:
-          - goal
-          title: BatchCreateDiamineSolutionTasks
-          type: object
-        type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
         feedback: {}
         goal:
@@ -445,17 +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
@@ -503,38 +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:
@@ -565,17 +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
@@ -595,24 +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:
@@ -620,6 +569,64 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
+      scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        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:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              title: scheduler_start结果
+              type: object
+          required:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
+      transfer_materials_to_reaction_station:
+        feedback: {}
+        goal:
+          target_device_id: target_device_id
+          transfer_groups: transfer_groups
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys:
+          target_device_id: unilabos_devices
+        result: {}
+        schema:
+          description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  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
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
       wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal:
@@ -627,9 +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
@@ -645,50 +652,38 @@ 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:BioyondDispensingStation
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
     status_types: {}
     type: python
   config_info: []
@@ -699,15 +694,16 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
-          type: string
+          type: object
         deck:
           type: string
-      required:
-      - config
-      - deck
+        protocol_type:
+          type: string
+      required: []
       type: object
     data:
       properties: {}
       required: []
       type: object
+  model: {}
   version: 1.0.0

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: []
+              type: object
+            result:
+              type: boolean
           required:
-              - target_state
+          - 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

@@ -0,0 +1,834 @@
+coincellassemblyworkstation_device:
+  category:
+  - coin_cell_workstation
+  class:
+    action_value_mappings:
+      auto-change_hole_sheet_to_2:
+        feedback: {}
+        goal: {}
+        goal_default:
+          hole: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                hole:
+                  type: object
+              required:
+              - hole
+              type: object
+            result: {}
+          required:
+          - goal
+          title: change_hole_sheet_to_2参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-fill_plate:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: fill_plate参数
+          type: object
+        type: UniLabJsonCommandAsync
+      auto-fun_wuliao_test:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: fun_wuliao_test参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_allpack_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  type: integer
+                assembly_type:
+                  default: 7
+                  type: integer
+                elec_num:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  default: 50
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  type: string
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: func_allpack_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_allpack_cmd_simp:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          battery_clean_ignore: false
+          battery_pressure_mode: true
+          dual_drop_first_volume: 25
+          dual_drop_mode: false
+          dual_drop_start_timing: false
+          dual_drop_suction_timing: false
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+          fujipian_juzhendianwei: 0
+          fujipian_panshu: 0
+          gemo_juzhendianwei: 0
+          gemopanshu: 0
+          lvbodian: true
+          qiangtou_juzhendianwei: 0
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 简化版电池组装函数，整合了参数设置和双滴模式
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  description: 电池压制力(N)
+                  type: integer
+                assembly_type:
+                  default: 7
+                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  type: integer
+                battery_clean_ignore:
+                  default: false
+                  description: 是否忽略电池清洁步骤
+                  type: boolean
+                battery_pressure_mode:
+                  default: true
+                  description: 是否启用压力模式
+                  type: boolean
+                dual_drop_first_volume:
+                  default: 25
+                  description: 二次滴液第一次排液体积(μL)
+                  type: integer
+                dual_drop_mode:
+                  default: false
+                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  type: boolean
+                dual_drop_start_timing:
+                  default: false
+                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  type: boolean
+                dual_drop_suction_timing:
+                  default: false
+                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  type: boolean
+                elec_num:
+                  description: 电解液瓶数
+                  type: string
+                elec_use_num:
+                  description: 每瓶电解液组装电池数
+                  type: string
+                elec_vol:
+                  default: 50
+                  description: 电解液吸液量(μL)
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  description: 实验记录保存路径
+                  type: string
+                fujipian_juzhendianwei:
+                  default: 0
+                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                fujipian_panshu:
+                  default: 0
+                  description: 负极片盘数
+                  type: integer
+                gemo_juzhendianwei:
+                  default: 0
+                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                gemopanshu:
+                  default: 0
+                  description: 隔膜盘数
+                  type: integer
+                lvbodian:
+                  default: true
+                  description: 是否使用铝箔垫片
+                  type: boolean
+                qiangtou_juzhendianwei:
+                  default: 0
+                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: func_allpack_cmd_simp参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_get_csv_export_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_get_csv_export_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_auto:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_auto参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_init_auto_start_combined:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_search_enable: false
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_search_enable:
+                  default: false
+                  description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+                  type: boolean
+              required: []
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: func_pack_device_init_auto_start_combined参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_device_start参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_device_stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: func_pack_device_stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_get_msg_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: D:\coin_cell_data
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  default: D:\coin_cell_data
+                  type: string
+              required: []
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: func_pack_get_msg_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_bottle_num:
+        feedback: {}
+        goal: {}
+        goal_default:
+          bottle_num: null
+        handles:
+          input:
+          - data_key: bottle_num
+            data_source: workflow
+            data_type: integer
+            handler_key: bottle_count
+            io_type: source
+            label: 配液瓶数
+            required: true
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                bottle_num:
+                  type: string
+              required:
+              - bottle_num
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_pack_send_bottle_num参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_finished_cmd:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: func_pack_send_finished_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_pack_send_msg_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: null
+          assembly_type: null
+          elec_use_num: null
+          elec_vol: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  type: string
+                assembly_type:
+                  type: string
+                elec_use_num:
+                  type: string
+                elec_vol:
+                  type: string
+              required:
+              - elec_use_num
+              - elec_vol
+              - assembly_type
+              - assembly_pressure
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: func_pack_send_msg_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_read_data_and_output:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: /Users/sml/work
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  default: /Users/sml/work
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_read_data_and_output参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_sendbottle_allpack_multi:
+        feedback: {}
+        goal: {}
+        goal_default:
+          assembly_pressure: 4200
+          assembly_type: 7
+          battery_clean_ignore: false
+          battery_pressure_mode: true
+          dual_drop_first_volume: 25
+          dual_drop_mode: false
+          dual_drop_start_timing: false
+          dual_drop_suction_timing: false
+          elec_num: null
+          elec_use_num: null
+          elec_vol: 50
+          file_path: /Users/sml/work
+          fujipian_juzhendianwei: 0
+          fujipian_panshu: 0
+          gemo_juzhendianwei: 0
+          gemopanshu: 0
+          lvbodian: true
+          qiangtou_juzhendianwei: 0
+        handles:
+          input:
+          - data_key: elec_num
+            data_source: workflow
+            data_type: integer
+            handler_key: bottle_count
+            io_type: source
+            label: 配液瓶数
+            required: true
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 发送瓶数+简化组装函数(适用于第二批次及后续批次)，合并了发送瓶数和简化组装流程
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assembly_pressure:
+                  default: 4200
+                  description: 电池压制力(N)
+                  type: integer
+                assembly_type:
+                  default: 7
+                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  type: integer
+                battery_clean_ignore:
+                  default: false
+                  description: 是否忽略电池清洁步骤
+                  type: boolean
+                battery_pressure_mode:
+                  default: true
+                  description: 是否启用压力模式
+                  type: boolean
+                dual_drop_first_volume:
+                  default: 25
+                  description: 二次滴液第一次排液体积(μL)
+                  type: integer
+                dual_drop_mode:
+                  default: false
+                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  type: boolean
+                dual_drop_start_timing:
+                  default: false
+                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  type: boolean
+                dual_drop_suction_timing:
+                  default: false
+                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  type: boolean
+                elec_num:
+                  description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
+                  type: string
+                elec_use_num:
+                  description: 每瓶电解液组装电池数
+                  type: string
+                elec_vol:
+                  default: 50
+                  description: 电解液吸液量(μL)
+                  type: integer
+                file_path:
+                  default: /Users/sml/work
+                  description: 实验记录保存路径
+                  type: string
+                fujipian_juzhendianwei:
+                  default: 0
+                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                fujipian_panshu:
+                  default: 0
+                  description: 负极片盘数
+                  type: integer
+                gemo_juzhendianwei:
+                  default: 0
+                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+                gemopanshu:
+                  default: 0
+                  description: 隔膜盘数
+                  type: integer
+                lvbodian:
+                  default: true
+                  description: 是否使用铝箔垫片
+                  type: boolean
+                qiangtou_juzhendianwei:
+                  default: 0
+                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  type: integer
+              required:
+              - elec_num
+              - elec_use_num
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: func_sendbottle_allpack_multi参数
+          type: object
+        type: UniLabJsonCommand
+      auto-func_stop_read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: func_stop_read_data参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modify_deck_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_name:
+                  type: string
+              required:
+              - resource_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modify_deck_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-qiming_coin_cell_code:
+        feedback: {}
+        goal: {}
+        goal_default:
+          battery_clean_ignore: false
+          battery_pressure: 4000
+          battery_pressure_mode: true
+          fujipian_juzhendianwei: 0
+          fujipian_panshu: null
+          gemo_juzhendianwei: 0
+          gemopanshu: 0
+          lvbodian: true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                battery_clean_ignore:
+                  default: false
+                  type: boolean
+                battery_pressure:
+                  default: 4000
+                  type: integer
+                battery_pressure_mode:
+                  default: true
+                  type: boolean
+                fujipian_juzhendianwei:
+                  default: 0
+                  type: integer
+                fujipian_panshu:
+                  type: integer
+                gemo_juzhendianwei:
+                  default: 0
+                  type: integer
+                gemopanshu:
+                  default: 0
+                  type: integer
+                lvbodian:
+                  default: true
+                  type: boolean
+              required:
+              - fujipian_panshu
+              type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: qiming_coin_cell_code参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
+    status_types:
+      data_assembly_coin_cell_num: int
+      data_assembly_pressure: int
+      data_assembly_time: float
+      data_axis_x_pos: float
+      data_axis_y_pos: float
+      data_axis_z_pos: float
+      data_coin_cell_code: str
+      data_coin_num: int
+      data_electrolyte_code: str
+      data_electrolyte_volume: int
+      data_glove_box_o2_content: float
+      data_glove_box_pressure: float
+      data_glove_box_water_content: float
+      data_open_circuit_voltage: float
+      data_pole_weight: float
+      request_rec_msg_status: bool
+      request_send_msg_status: bool
+      sys_mode: str
+      sys_status: str
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: koudian.webp
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: 172.16.28.102
+          type: string
+        config:
+          type: object
+        debug_mode:
+          default: false
+          type: boolean
+        deck:
+          type: string
+        port:
+          default: '502'
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        data_assembly_coin_cell_num:
+          type: integer
+        data_assembly_pressure:
+          type: integer
+        data_assembly_time:
+          type: number
+        data_axis_x_pos:
+          type: number
+        data_axis_y_pos:
+          type: number
+        data_axis_z_pos:
+          type: number
+        data_coin_cell_code:
+          type: string
+        data_coin_num:
+          type: integer
+        data_electrolyte_code:
+          type: string
+        data_electrolyte_volume:
+          type: integer
+        data_glove_box_o2_content:
+          type: number
+        data_glove_box_pressure:
+          type: number
+        data_glove_box_water_content:
+          type: number
+        data_open_circuit_voltage:
+          type: number
+        data_pole_weight:
+          type: number
+        request_rec_msg_status:
+          type: boolean
+        request_send_msg_status:
+          type: boolean
+        sys_mode:
+          type: string
+        sys_status:
+          type: string
+      required:
+      - data_assembly_coin_cell_num
+      - data_assembly_pressure
+      - data_assembly_time
+      - data_axis_x_pos
+      - data_axis_y_pos
+      - data_axis_z_pos
+      - data_coin_cell_code
+      - data_coin_num
+      - data_electrolyte_code
+      - 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
+  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:
+          additionalProperties:
             type: object
-        motor_status:
           type: object
       required:
-      - motor_status
       - all_positions
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/liquid_handler.yaml

@@ -4134,19 +4134,8 @@ liquid_handler:
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: sources
+            label: 待移动液体
           - data_key: targets
-            data_source: handle
-            data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: tip_racks
-            data_source: handle
-            data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
-          output:
-          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: targets
@@ -4161,9 +4150,9 @@ liquid_handler:
             data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: targets
-            data_source: handle
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
             data_type: resource
             handler_key: targets_out
             label: 移液后目标孔
@@ -4812,13 +4801,13 @@ liquid_handler.biomek:
           targets: ''
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
           output:
-          - data_key: targets
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: targets
@@ -4971,21 +4960,21 @@ liquid_handler.biomek:
           volume: 0.0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources
             label: sources
-          - data_key: targets
-            data_source: handle
+          - data_key: liquid
+            data_source: executor
             data_type: resource
             handler_key: targets
             label: targets
-          - data_key: tip_racks
-            data_source: handle
+          - data_key: liquid
+            data_source: executor
             data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
+            handler_key: tip_rack
+            label: tip_rack
           output:
           - data_key: sources
             data_source: handle
@@ -5166,28 +5155,30 @@ liquid_handler.biomek:
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: sources
+            io_type: target
+            label: 待移动液体
           - data_key: targets
             data_source: handle
             data_type: resource
             handler_key: targets
-            label: targets
+            label: 转移目标
           - data_key: tip_racks
             data_source: handle
             data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
+            handler_key: tip_rack
+            label: 枪头盒
           output:
-          - data_key: sources
-            data_source: handle
+          - data_key: sources.@flatten
+            data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: targets
-            data_source: handle
+            io_type: source
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: targets
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -7788,7 +7779,8 @@ liquid_handler.prcxi:
       auto-run_protocol:
         feedback: {}
         goal: {}
-        goal_default: {}
+        goal_default:
+          protocol_id: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -7797,7 +7789,9 @@ liquid_handler.prcxi:
           properties:
             feedback: {}
             goal:
-              properties: {}
+              properties:
+                protocol_id:
+                  type: string
               required: []
               type: object
             result: {}
@@ -8655,19 +8649,7 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles:
-          input:
-          - data_key: plate
-            data_source: handle
-            data_type: resource
-            handler_key: plate
-            label: plate
-          output:
-          - data_key: plate
-            data_source: handle
-            data_type: resource
-            handler_key: plate
-            label: plate
+        handles: {}
         placeholder_keys:
           plate: unilabos_resources
           to: unilabos_resources
@@ -10158,116 +10140,28 @@ liquid_handler.prcxi:
         type: Transfer
       transfer_liquid:
         feedback: {}
-        goal:
-          asp_flow_rates: asp_flow_rates
-          asp_vols: asp_vols
-          blow_out_air_volume: blow_out_air_volume
-          delays: delays
-          dis_flow_rates: dis_flow_rates
-          dis_vols: dis_vols
-          is_96_well: is_96_well
-          liquid_height: liquid_height
-          mix_liquid_height: mix_liquid_height
-          mix_rate: mix_rate
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          none_keys: none_keys
-          offsets: offsets
-          sources: sources
-          spread: spread
-          targets: targets
-          tip_racks: tip_racks
-          touch_tip: touch_tip
-          use_channels: use_channels
+        goal: {}
         goal_default:
-          asp_flow_rates:
-          - 0.0
-          asp_vols:
-          - 0.0
-          blow_out_air_volume:
-          - 0.0
-          delays:
-          - 0
-          dis_flow_rates:
-          - 0.0
-          dis_vols:
-          - 0.0
+          asp_flow_rates: null
+          asp_vols: null
+          blow_out_air_volume: null
+          blow_out_air_volume_before: null
+          delays: null
+          dis_flow_rates: null
+          dis_vols: null
           is_96_well: false
-          liquid_height:
-          - 0.0
-          mix_liquid_height: 0.0
-          mix_rate: 0
-          mix_stage: ''
-          mix_times: 0
-          mix_vol: 0
-          none_keys:
-          - ''
-          offsets:
-          - x: 0.0
-            y: 0.0
-            z: 0.0
-          sources:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          spread: ''
-          targets:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
-          tip_racks:
-          - category: ''
-            children: []
-            config: ''
-            data: ''
-            id: ''
-            name: ''
-            parent: ''
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
-            sample_id: ''
-            type: ''
+          liquid_height: null
+          mix_liquid_height: null
+          mix_rate: null
+          mix_stage: none
+          mix_times: null
+          mix_vol: null
+          none_keys: []
+          offsets: null
+          sources: null
+          spread: wide
+          targets: null
+          tip_racks: null
           touch_tip: false
           use_channels:
           - 0
@@ -10276,26 +10170,26 @@ liquid_handler.prcxi:
           - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: sources
-            label: sources
+            handler_key: sources_identifier
+            label: 待移动液体
           - data_key: targets
             data_source: handle
             data_type: resource
-            handler_key: targets
-            label: targets
+            handler_key: targets_identifier
+            label: 转移目标
           - data_key: tip_racks
             data_source: handle
             data_type: resource
-            handler_key: tip_racks
-            label: tip_racks
+            handler_key: tip_rack_identifier
+            label: 枪头盒
           output:
-          - data_key: sources
-            data_source: handle
+          - data_key: sources.@flatten
+            data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
-          - data_key: targets
-            data_source: handle
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
             data_type: resource
             handler_key: targets_out
             label: 移液后目标孔
@@ -10307,11 +10201,7 @@ liquid_handler.prcxi:
         schema:
           description: ''
           properties:
-            feedback:
-              properties: {}
-              required: []
-              title: LiquidHandlerTransfer_Feedback
-              type: object
+            feedback: {}
             goal:
               properties:
                 asp_flow_rates:
@@ -10326,6 +10216,10 @@ liquid_handler.prcxi:
                   items:
                     type: number
                   type: array
+                blow_out_air_volume_before:
+                  items:
+                    type: number
+                  type: array
                 delays:
                   items:
                     maximum: 2147483647
@@ -10341,6 +10235,7 @@ liquid_handler.prcxi:
                     type: number
                   type: array
                 is_96_well:
+                  default: false
                   type: boolean
                 liquid_height:
                   items:
@@ -10353,6 +10248,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 mix_stage:
+                  default: none
                   type: string
                 mix_times:
                   maximum: 2147483647
@@ -10363,6 +10259,7 @@ liquid_handler.prcxi:
                   minimum: -2147483648
                   type: integer
                 none_keys:
+                  default: []
                   items:
                     type: string
                   type: array
@@ -10458,6 +10355,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 spread:
+                  default: wide
                   type: string
                 targets:
                   items:
@@ -10610,6 +10508,7 @@ liquid_handler.prcxi:
                     type: object
                   type: array
                 touch_tip:
+                  default: false
                   type: boolean
                 use_channels:
                   items:
@@ -10618,45 +10517,221 @@ liquid_handler.prcxi:
                     type: integer
                   type: array
               required:
-              - asp_vols
-              - dis_vols
               - sources
               - targets
               - tip_racks
-              - use_channels
-              - asp_flow_rates
-              - dis_flow_rates
-              - offsets
-              - touch_tip
-              - liquid_height
-              - blow_out_air_volume
-              - spread
-              - is_96_well
-              - mix_stage
-              - mix_times
-              - mix_vol
-              - mix_rate
-              - mix_liquid_height
-              - delays
-              - none_keys
-              title: LiquidHandlerTransfer_Goal
+              - asp_vols
+              - dis_vols
               type: object
             result:
+              $defs:
+                ResourceDict:
                   properties:
-                return_info:
+                    class:
+                      description: Resource class name
+                      title: Class
+                      type: string
+                    config:
+                      additionalProperties: true
+                      description: Resource configuration
+                      title: Config
+                      type: object
+                    data:
+                      additionalProperties: true
+                      description: 'Resource data, eg: container liquid data'
+                      title: Data
+                      type: object
+                    description:
+                      default: ''
+                      description: Resource description
+                      title: Description
+                      type: string
+                    extra:
+                      additionalProperties: true
+                      description: 'Extra data, eg: slot index'
+                      title: Extra
+                      type: object
+                    icon:
+                      default: ''
+                      description: Resource icon
+                      title: Icon
+                      type: string
+                    id:
+                      description: Resource ID
+                      title: Id
+                      type: string
+                    model:
+                      additionalProperties: true
+                      description: Resource model
+                      title: Model
+                      type: object
+                    name:
+                      description: Resource name
+                      title: Name
+                      type: string
+                    parent:
+                      anyOf:
+                      - $ref: '#/$defs/ResourceDict'
+                      - type: 'null'
+                      default: null
+                      description: Parent resource object
+                    parent_uuid:
+                      anyOf:
+                      - type: string
+                      - type: 'null'
+                      default: null
+                      description: Parent resource uuid
+                      title: Parent Uuid
+                    pose:
+                      $ref: '#/$defs/ResourceDictPosition'
+                      description: Resource position
+                    schema:
+                      additionalProperties: true
+                      description: Resource schema
+                      title: Schema
+                      type: object
+                    type:
+                      anyOf:
+                      - const: device
+                        type: string
+                      - type: string
+                      description: Resource type
+                      title: Type
+                    uuid:
+                      description: Resource UUID
+                      title: Uuid
                       type: string
-                success:
-                  type: boolean
                   required:
-              - return_info
-              - success
-              title: LiquidHandlerTransfer_Result
+                  - id
+                  - uuid
+                  - name
+                  - type
+                  - class
+                  - config
+                  - data
+                  - extra
+                  title: ResourceDict
+                  type: object
+                ResourceDictPosition:
+                  properties:
+                    cross_section_type:
+                      default: rectangle
+                      description: Cross section type
+                      enum:
+                      - rectangle
+                      - circle
+                      - rounded_rectangle
+                      title: Cross Section Type
+                      type: string
+                    layout:
+                      default: x-y
+                      description: Resource layout
+                      enum:
+                      - 2d
+                      - x-y
+                      - z-y
+                      - x-z
+                      title: Layout
+                      type: string
+                    position:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position
+                    position3d:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position in 3D space
+                    rotation:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource rotation
+                    scale:
+                      $ref: '#/$defs/ResourceDictPositionScale'
+                      description: Resource scale
+                    size:
+                      $ref: '#/$defs/ResourceDictPositionSize'
+                      description: Resource size
+                  title: ResourceDictPosition
+                  type: object
+                ResourceDictPositionObject:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: X coordinate
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: Y coordinate
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: Z coordinate
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionObject
+                  type: object
+                ResourceDictPositionScale:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: x scale
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: y scale
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: z scale
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionScale
+                  type: object
+                ResourceDictPositionSize:
+                  properties:
+                    depth:
+                      default: 0.0
+                      description: Depth
+                      title: Depth
+                      type: number
+                    height:
+                      default: 0.0
+                      description: Height
+                      title: Height
+                      type: number
+                    width:
+                      default: 0.0
+                      description: Width
+                      title: Width
+                      type: number
+                  title: ResourceDictPositionSize
+                  type: object
+              properties:
+                sources:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Sources
+                  type: array
+                targets:
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
+                  title: Targets
+                  type: array
+              required:
+              - sources
+              - targets
+              title: TransferLiquidReturn
               type: object
           required:
           - goal
-          title: LiquidHandlerTransfer
+          title: transfer_liquid参数
           type: object
-        type: LiquidHandlerTransfer
+        type: UniLabJsonCommandAsync
     module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
     status_types:
       reset_ok: bool

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

@@ -49,32 +49,7 @@ opcua_example:
           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:
+      auto-refresh_node_values:
         feedback: {}
         goal: {}
         goal_default: {}
@@ -92,32 +67,7 @@ opcua_example:
             result: {}
           required:
           - goal
-          title: print_cache_stats参数
-          type: object
-        type: UniLabJsonCommand
-      auto-read_node:
-        feedback: {}
-        goal: {}
-        goal_default:
-          node_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                node_name:
-                  type: string
-              required:
-              - node_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: read_node参数
+          title: refresh_node_values参数
           type: object
         type: UniLabJsonCommand
       auto-set_node_value:
@@ -149,10 +99,50 @@ opcua_example:
           title: set_node_value参数
           type: object
         type: UniLabJsonCommand
+      auto-start_node_refresh:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_node_refresh参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_node_refresh:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_node_refresh参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
-    status_types:
-      cache_stats: dict
-      node_value: String
+    status_types: {}
     type: python
   config_info: []
   description: null
@@ -161,36 +151,22 @@ opcua_example:
   init_param_schema:
     config:
       properties:
-        cache_timeout:
-          default: 5.0
-          type: number
         config_path:
           type: string
-        deck:
-          type: string
         password:
           type: string
-        subscription_interval:
-          default: 500
-          type: integer
+        refresh_interval:
+          default: 1.0
+          type: number
         url:
           type: string
-        use_subscription:
-          default: true
-          type: boolean
         username:
           type: string
       required:
       - url
       type: object
     data:
-      properties:
-        cache_stats:
-          type: object
-        node_value:
-          type: string
-      required:
-      - node_value
-      - cache_stats
+      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

@@ -4,6 +4,78 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
+      add_time_constraint:
+        feedback: {}
+        goal:
+          duration: duration
+          end_point: end_point
+          end_step_key: end_step_key
+          start_point: start_point
+          start_step_key: start_step_key
+        goal_default:
+          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
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                duration:
+                  description: 时间(秒)
+                  type: integer
+                end_point:
+                  default: 0
+                  description: 终点计时点 (Start=开始前, End=结束后)
+                  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: 0
+                  description: 起点计时点 (Start=开始前, End=结束后)
+                  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:
+              - duration
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_time_constraint参数
+          type: object
+        type: UniLabJsonCommand
+      auto-clear_workflows:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: clear_workflows参数
+          type: object
+        type: UniLabJsonCommand
       auto-create_order:
         feedback: {}
         goal: {}
@@ -23,7 +95,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_order参数
@@ -50,7 +123,8 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -75,7 +149,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -100,7 +175,8 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -125,12 +201,47 @@ 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
           type: object
         type: UniLabJsonCommand
+      auto-set_reactor_temperature:
+        feedback: {}
+        goal: {}
+        goal_default:
+          reactor_id: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                reactor_id:
+                  type: integer
+                temperature:
+                  type: number
+              required:
+              - reactor_id
+              - temperature
+              type: object
+            result:
+              type: string
+          required:
+          - goal
+          title: set_reactor_temperature参数
+          type: object
+        type: UniLabJsonCommand
       auto-skip_titration_steps:
         feedback: {}
         goal: {}
@@ -150,12 +261,35 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: skip_titration_steps参数
           type: object
         type: UniLabJsonCommand
+      auto-sync_workflow_sequence_from_bioyond:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: sync_workflow_sequence_from_bioyond参数
+          type: object
+        type: UniLabJsonCommand
       auto-wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal: {}
@@ -182,12 +316,40 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
+      auto-workflow_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          value: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                value:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sequence参数
+          type: object
+        type: UniLabJsonCommand
       auto-workflow_step_query:
         feedback: {}
         goal: {}
@@ -207,12 +369,35 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_step_query参数
           type: object
         type: UniLabJsonCommand
+      clean_all_server_workflows:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        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:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              type: object
+          required:
+          - goal
+          title: clean_all_server_workflows参数
+          type: object
+        type: UniLabJsonCommand
       drip_back:
         feedback: {}
         goal:
@@ -223,13 +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
@@ -241,27 +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:
-                  description: 是否滴定(1=否, 2=是)
+                  default: '1'
+                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
-                  type: string
+                  default: 2
+                  description: 是否观察 (NO=否, YES=是)
+                  type: integer
                 volume:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
-              - volume
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              - volume
               type: object
             result: {}
           required:
@@ -274,7 +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
@@ -290,8 +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:
@@ -305,13 +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:
@@ -329,13 +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
@@ -344,30 +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:
-                  description: 是否滴定(1=否, 2=是)
+                  default: '1'
+                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
-                  type: string
+                  default: 1
+                  description: 是否观察 (NO=否, YES=是)
+                  type: integer
                 volume:
-                  description: 分液公式(μL)
+                  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:
@@ -386,13 +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
@@ -401,9 +581,10 @@ 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(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
+          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。
           properties:
             feedback: {}
             goal:
@@ -415,23 +596,23 @@ 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: '1'
-                  description: 是否滴定(1=否, 2=是),默认1
+                  description: 是否滴定(NO=否, YES=是),默认NO
                   type: string
                 torque_variation:
-                  default: '2'
-                  description: 是否观察 (1=否, 2=是),默认2
-                  type: string
+                  default: 2
+                  description: 是否观察 (NO=否, YES=是),默认YES
+                  type: integer
                 volume:
-                  description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
               required:
               - assign_material_name
@@ -455,15 +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
@@ -478,6 +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"
@@ -496,23 +678,23 @@ 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: '2'
-                  description: 是否滴定(1=否, 2=是),默认2
+                  description: 是否滴定(NO=否, YES=是),默认YES
                   type: string
                 torque_variation:
-                  default: '2'
-                  description: 是否观察 (1=否, 2=是),默认2
-                  type: string
+                  default: 2
+                  description: 是否观察 (NO=否, YES=是),默认YES
+                  type: integer
                 volume_formula:
-                  description: 分液公式(μL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
+                  description: 分液公式(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
                 x_value:
                   description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
@@ -536,13 +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)
@@ -554,27 +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:
-                  description: 是否滴定(1=否, 2=是)
+                  default: '1'
+                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
-                  description: 是否观察 (1=否, 2=是)
-                  type: string
+                  default: 1
+                  description: 是否观察 (NO=否, YES=是)
+                  type: integer
                 volume_formula:
-                  description: 分液公式(μL)
+                  description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -588,9 +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
@@ -608,7 +792,8 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -621,10 +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
@@ -636,14 +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: {}
@@ -657,6 +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
@@ -666,20 +853,35 @@ 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
           type: object
         type: UniLabJsonCommand
+      scheduler_start:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        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:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              title: scheduler_start结果
+              type: object
+          required:
+          - goal
+          title: scheduler_start参数
+          type: object
+        type: UniLabJsonCommand
       solid_feeding_vials:
         feedback: {}
         goal:
@@ -689,12 +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)
@@ -706,23 +909,22 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   type: string
                 material_id:
-                  description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
+                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
                   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:
-                  description: 是否观察 (1=否, 2=是)
-                  type: string
+                  default: 1
+                  description: 是否观察 (NO=否, YES=是)
+                  type: integer
               required:
-              - assign_material_name
               - material_id
-              - time
-              - torque_variation
-              - temperature
               type: object
             result: {}
           required:
@@ -730,10 +932,10 @@ reaction_station.bioyond:
           title: solid_feeding_vials参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
-      workflow_sequence: String
+      workflow_sequence: str
     type: python
   config_info: []
   description: Bioyond反应站
@@ -753,9 +955,7 @@ reaction_station.bioyond:
     data:
       properties:
         workflow_sequence:
-          items:
           type: string
-          type: array
       required:
       - workflow_sequence
       type: object
@@ -791,7 +991,7 @@ reaction_station.reactor:
           title: update_metrics参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
     status_types: {}
     type: python
   config_info: []

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

unilabos/registry/devices/solid_dispenser.yaml

@@ -14,19 +14,24 @@ solid_dispenser.laiyu:
           powder_tube_number: 0
           target_tube_position: ''
         handles: {}
+        placeholder_keys: {}
         result:
           actual_mass_mg: actual_mass_mg
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: SolidDispenseAddPowderTube_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 compound_mass:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 powder_tube_number:
                   maximum: 2147483647
@@ -34,24 +39,19 @@ solid_dispenser.laiyu:
                   type: integer
                 target_tube_position:
                   type: string
-              required:
-              - powder_tube_number
-              - target_tube_position
-              - compound_mass
               title: SolidDispenseAddPowderTube_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 actual_mass_mg:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - actual_mass_mg
-              - success
               title: SolidDispenseAddPowderTube_Result
               type: object
           required:
@@ -74,11 +74,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: calculate_crc参数
@@ -99,11 +100,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 command:
-                  type: string
+                  type: object
               required:
               - command
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: send_command参数
@@ -112,36 +114,37 @@ solid_dispenser.laiyu:
       discharge:
         feedback: {}
         goal:
-          float_input: float_input
+          float_in: float_in
         goal_default:
           float_in: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: FloatSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 float_in:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - float_in
               title: FloatSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: FloatSingleInput_Result
               type: object
           required:
@@ -156,32 +159,31 @@ solid_dispenser.laiyu:
         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:
@@ -200,38 +202,41 @@ solid_dispenser.laiyu:
           y: 0.0
           z: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: Point3DSeparateInput_Feedback
               type: object
             goal:
+              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
-              - y
-              - z
               title: Point3DSeparateInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: Point3DSeparateInput_Result
               type: object
           required:
@@ -246,34 +251,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -288,34 +292,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -328,26 +331,25 @@ solid_dispenser.laiyu:
         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:

unilabos/registry/devices/temperature.yaml

@@ -34,7 +34,8 @@ chiller:
               - register_address
               - value
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: build_modbus_frame参数
@@ -63,7 +64,8 @@ chiller:
               required:
               - temperature
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: convert_temperature_to_modbus_value参数
@@ -84,11 +86,12 @@ chiller:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -116,42 +119,41 @@ chiller:
           type: object
         type: UniLabJsonCommand
       set_temperature:
-        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:
@@ -266,9 +268,15 @@ heaterstirrer.dalong:
         feedback:
           status: status
         goal:
+          pressure: pressure
           purpose: purpose
+          reflux_solvent: reflux_solvent
+          stir: stir
+          stir_speed: stir_speed
           temp: temp
+          temp_spec: temp_spec
           time: time
+          time_spec: time_spec
           vessel: vessel
         goal_default:
           pressure: ''
@@ -301,20 +309,23 @@ heaterstirrer.dalong:
             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: HeatChill_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 pressure:
                   type: string
@@ -325,8 +336,12 @@ heaterstirrer.dalong:
                 stir:
                   type: boolean
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp_spec:
                   type: string
@@ -335,6 +350,7 @@ heaterstirrer.dalong:
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -353,16 +369,26 @@ heaterstirrer.dalong:
                     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
@@ -372,12 +398,19 @@ heaterstirrer.dalong:
                           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
@@ -407,20 +440,10 @@ heaterstirrer.dalong:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - temp
-              - time
-              - temp_spec
-              - time_spec
-              - pressure
-              - reflux_solvent
-              - stir
-              - stir_speed
-              - purpose
               title: HeatChill_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -428,10 +451,6 @@ heaterstirrer.dalong:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -440,42 +459,42 @@ heaterstirrer.dalong:
           type: object
         type: HeatChill
       set_temp_target:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         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:
@@ -484,42 +503,42 @@ heaterstirrer.dalong:
           type: object
         type: SendCmd
       set_temp_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         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:
@@ -569,8 +588,8 @@ heaterstirrer.dalong:
       - status
       - stir_speed
       - temp
-      - temp_warning
       - temp_target
+      - temp_warning
       type: object
   version: 1.0.0
 tempsensor:
@@ -691,42 +710,41 @@ tempsensor:
           type: object
         type: UniLabJsonCommand
       set_warning:
-        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/xrd_d7mate.yaml

@@ -45,31 +45,6 @@ xrd_d7mate:
           title: connect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-start_from_string:
         feedback: {}
         goal: {}
@@ -85,11 +60,14 @@ xrd_d7mate:
             goal:
               properties:
                 params:
-                  type: string
+                  anyOf:
+                  - type: string
+                  - type: object
               required:
               - params
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: start_from_string参数
@@ -105,21 +83,18 @@ xrd_d7mate:
           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:
@@ -130,38 +105,38 @@ xrd_d7mate:
       get_sample_down:
         feedback: {}
         goal:
-          sample_station: 1
+          int_input: int_input
+          sample_station: sample_station
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -179,21 +154,18 @@ xrd_d7mate:
           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:
@@ -211,21 +183,18 @@ xrd_d7mate:
           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:
@@ -238,26 +207,25 @@ xrd_d7mate:
         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:
@@ -274,42 +242,35 @@ xrd_d7mate:
           sample_id: ''
           start_theta: 10.0
         goal_default:
-          end_theta: 80.0
-          exp_time: 0.5
-          increment: 0.02
-          sample_id: Sample001
-          start_theta: 10.0
+          end_theta: null
+          exp_time: null
+          increment: null
+          sample_id: null
+          start_theta: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 送样完成后，发送样品信息和采集参数
           properties:
             feedback:
-              properties: {}
-              required: []
               title: SampleReadyInput_Feedback
-              type: object
             goal:
               properties:
                 end_theta:
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
                   type: number
                 exp_time:
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
                   type: number
                 increment:
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
                   type: number
                 sample_id:
                   description: 样品标识符
                   type: string
                 start_theta:
                   description: 起始角度（≥5°）
-                  minimum: 5.0
                   type: number
               required:
               - sample_id
@@ -320,19 +281,11 @@ xrd_d7mate:
               title: SampleReadyInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: SampleReadyInput_Result
               type: object
           required:
           - goal
-          title: SampleReadyInput
+          title: send_sample_ready参数
           type: object
         type: UniLabJsonCommand
       set_power_off:
@@ -340,26 +293,25 @@ xrd_d7mate:
         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:
@@ -372,26 +324,25 @@ xrd_d7mate:
         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:
@@ -405,18 +356,16 @@ xrd_d7mate:
           current: 30.0
           voltage: 40.0
         goal_default:
-          current: 30.0
-          voltage: 40.0
+          current: null
+          voltage: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 设置高压电源电压和电流
           properties:
             feedback:
-              properties: {}
-              required: []
               title: VoltageCurrentInput_Feedback
-              type: object
             goal:
               properties:
                 current:
@@ -431,19 +380,11 @@ xrd_d7mate:
               title: VoltageCurrentInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: VoltageCurrentInput_Result
               type: object
           required:
           - goal
-          title: VoltageCurrentInput
+          title: set_voltage_current参数
           type: object
         type: UniLabJsonCommand
       start:
@@ -453,11 +394,12 @@ xrd_d7mate:
           end_theta: 80.0
           exp_time: 0.1
           increment: 0.05
-          sample_id: 样品名称
+          sample_id: ''
           start_theta: 10.0
           string: ''
           wait_minutes: 3.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -466,54 +408,42 @@ xrd_d7mate:
             goal:
               properties:
                 end_theta:
+                  default: 80.0
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
-                  type: string
+                  type: number
                 exp_time:
+                  default: 0.1
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
-                  type: string
+                  type: number
                 increment:
+                  default: 0.05
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
-                  type: string
+                  type: number
                 sample_id:
+                  default: ''
                   description: 样品标识符
                   type: string
                 start_theta:
+                  default: 10.0
                   description: 起始角度（≥5°）
-                  minimum: 5.0
-                  type: string
+                  type: number
                 string:
+                  default: ''
                   description: 字符串格式的参数输入，如果提供则优先解析使用
                   type: string
                 wait_minutes:
+                  default: 3.0
                   description: 允许上样后等待分钟数
-                  minimum: 0.0
                   type: number
-              required:
-              - sample_id
-              - start_theta
-              - end_theta
-              - increment
-              - exp_time
+              required: []
               title: StartWorkflow_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: StartWorkflow_Result
               type: object
           required:
           - goal
-          title: StartWorkflow
+          title: start参数
           type: object
         type: UniLabJsonCommand
       start_auto_mode:
@@ -521,17 +451,15 @@ xrd_d7mate:
         goal:
           status: true
         goal_default:
-          status: true
+          status: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动或停止自动模式
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BoolSingleInput_Feedback
-              type: object
             goal:
               properties:
                 status:
@@ -542,25 +470,16 @@ xrd_d7mate:
               title: BoolSingleInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: BoolSingleInput_Result
               type: object
           required:
           - goal
-          title: BoolSingleInput
+          title: start_auto_mode参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
     status_types:
       current_acquire_data: dict
-      sample_down: dict
       sample_request: dict
       sample_status: dict
     type: python
@@ -586,16 +505,13 @@ xrd_d7mate:
       properties:
         current_acquire_data:
           type: object
-        sample_down:
-          type: object
         sample_request:
           type: object
         sample_status:
           type: object
       required:
-      - sample_request
       - current_acquire_data
+      - sample_request
       - sample_status
-      - sample_down
       type: object
   version: 1.0.0

unilabos/registry/devices/zhida_gcms.yaml

@@ -8,26 +8,25 @@ zhida_gcms:
         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:
@@ -77,31 +76,6 @@ zhida_gcms:
           title: connect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
       get_methods:
         feedback: {}
         goal: {}
@@ -112,21 +86,18 @@ zhida_gcms:
           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:
@@ -144,21 +115,18 @@ zhida_gcms:
           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:
@@ -176,21 +144,18 @@ zhida_gcms:
           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:
@@ -203,26 +168,25 @@ zhida_gcms:
         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:
@@ -234,35 +198,35 @@ zhida_gcms:
         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:
@@ -273,36 +237,36 @@ zhida_gcms:
       start_with_csv_file:
         feedback: {}
         goal:
+          csv_file_path: csv_file_path
           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:
@@ -343,8 +307,8 @@ zhida_gcms:
         version:
           type: object
       required:
-      - status
       - methods
+      - status
       - version
       type: object
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -0,0 +1,85 @@
+YB_20ml_fenyeping:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
+    type: pylabrobot
+  description: YB_20ml_fenyeping
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_5ml_fenyeping:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
+    type: pylabrobot
+  description: YB_5ml_fenyeping
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_jia_yang_tou_da:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
+    type: pylabrobot
+  description: YB_jia_yang_tou_da
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_pei_ye_da_Bottle:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
+    type: pylabrobot
+  description: YB_pei_ye_da_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_pei_ye_xiao_Bottle:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
+    type: pylabrobot
+  description: YB_pei_ye_xiao_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_qiang_tou:
+  category:
+  - yb3
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
+    type: pylabrobot
+  description: YB_qiang_tou
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  - YB_bottle
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
+    type: pylabrobot
+  description: YB_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -0,0 +1,168 @@
+YB_100ml_yeti:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
+    type: pylabrobot
+  description: YB_100ml_yeti
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_20ml_fenyepingban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
+    type: pylabrobot
+  description: YB_20ml_fenyepingban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_5ml_fenyepingban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
+    type: pylabrobot
+  description: YB_5ml_fenyepingban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_6StockCarrier:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
+    type: pylabrobot
+  description: YB_6StockCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_6VialCarrier:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
+    type: pylabrobot
+  description: YB_6VialCarrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_gao_nian_ye_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
+    type: pylabrobot
+  description: YB_gao_nian_ye_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_gaonianye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
+    type: pylabrobot
+  description: YB_gaonianye
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_jia_yang_tou_da_Carrier:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
+    type: pylabrobot
+  description: YB_jia_yang_tou_da_Carrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_peiyepingdaban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
+    type: pylabrobot
+  description: YB_peiyepingdaban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_peiyepingxiaoban:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+    type: pylabrobot
+  description: YB_peiyepingxiaoban
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_qiang_tou_he:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
+    type: pylabrobot
+  description: YB_qiang_tou_he
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_shi_pei_qi_kuai:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
+    type: pylabrobot
+  description: YB_shi_pei_qi_kuai
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_ye:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
+    type: pylabrobot
+  description: YB_ye_Bottle_Carrier
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0
+YB_ye_100ml_Bottle:
+  category:
+  - yb3
+  - YB_bottle_carriers
+  class:
+    module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
+    type: pylabrobot
+  description: YB_ye_100ml_Bottle
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerStation_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_1FlaskCarrier:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerStation_1FlaskCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_6StockCarrier:
   category:
@@ -32,7 +30,6 @@ BIOYOND_PolymerStation_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_8StockCarrier:
   category:
@@ -44,5 +41,4 @@ BIOYOND_PolymerStation_8StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerPreparationStation_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerReactionStation_Deck:
   category:
@@ -20,17 +19,26 @@ BIOYOND_PolymerReactionStation_Deck:
   handles: []
   icon: 反应站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
-YB_Deck11:
+BIOYOND_YB_Deck:
   category:
   - deck
   class:
     module: unilabos.resources.bioyond.decks:YB_Deck
     type: pylabrobot
-  description: BIOYOND PolymerReactionStation Deck
+  description: BIOYOND ElectrolyteFormulationStation Deck
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
+  version: 1.0.0
+CoincellDeck:
+  category:
+  - deck
+  class:
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
+    type: pylabrobot
+  description: YIHUA CoinCellAssembly Deck
+  handles: []
+  icon: koudian.webp
+  init_param_schema: {}
   version: 1.0.0

unilabos/registry/resources/common/resource_container.yaml

@@ -1,24 +1,3 @@
-disposal:
-  category:
-  - disposal
-  - waste
-  - resource_container
-  class:
-    module: unilabos.resources.disposal:Disposal
-    type: unilabos
-  description: 废料处理位置，用于处理实验废料
-  handles:
-  - data_key: disposal_access
-    data_source: handle
-    data_type: fluid
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 hplc_plate:
   category:
   - resource_container
@@ -40,56 +19,6 @@ hplc_plate:
     - 3.1416
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-maintenance:
-  category:
-  - maintenance
-  - position
-  - resource_container
-  class:
-    module: unilabos.resources.maintenance:Maintenance
-    type: unilabos
-  description: 维护位置，用于设备维护和校准
-  handles:
-  - data_key: maintenance_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-plate:
-  category:
-  - plate
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.plate:Plate
-    type: unilabos
-  description: 实验板，用于放置样品和试剂
-  handles:
-  - data_key: plate_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: sample_wells
-    data_source: handle
-    data_type: fluid
-    handler_key: wells
-    io_type: target
-    label: wells
-    side: CENTER
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 plate_96:
   category:
@@ -112,7 +41,6 @@ plate_96:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 plate_96_high:
   category:
@@ -135,35 +63,6 @@ plate_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-tip_rack:
-  category:
-  - tip_rack
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.tip_rack:TipRack
-    type: unilabos
-  description: 枪头架资源，用于存放和管理移液器枪头
-  handles:
-  - data_key: tip_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: tip_pickup
-    data_source: handle
-    data_type: mechanical
-    handler_key: pickup
-    io_type: target
-    label: pickup
-    side: SOUTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 tiprack_96_high:
   category:
@@ -195,7 +94,6 @@ tiprack_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tiprack_box:
   category:
@@ -227,5 +125,4 @@ tiprack_box:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -29,7 +29,6 @@ bottle_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tube_container:
   category:
@@ -62,5 +61,4 @@ tube_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -12,5 +12,4 @@ TransformXYZDeck:
     mesh: liquid_transform_xyz
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -12,7 +12,6 @@ OTDeck:
     mesh: opentrons_liquid_handler
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0
 hplc_station:
   category:
@@ -28,5 +27,4 @@ hplc_station:
     mesh: hplc_station
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -8,5 +8,4 @@ Opentrons_96_adapter_Vb:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -8,7 +8,6 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_384_wellplate_50ul:
   category:
@@ -20,7 +19,6 @@ biorad_384_wellplate_50ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_96_wellplate_200ul_pcr:
   category:
@@ -32,7 +30,6 @@ biorad_96_wellplate_200ul_pcr:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_12_wellplate_6point9ml_flat:
   category:
@@ -44,7 +41,6 @@ corning_12_wellplate_6point9ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_24_wellplate_3point4ml_flat:
   category:
@@ -56,7 +52,6 @@ corning_24_wellplate_3point4ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_384_wellplate_112ul_flat:
   category:
@@ -68,7 +63,6 @@ corning_384_wellplate_112ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_48_wellplate_1point6ml_flat:
   category:
@@ -80,7 +74,6 @@ corning_48_wellplate_1point6ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_6_wellplate_16point8ml_flat:
   category:
@@ -92,7 +85,6 @@ corning_6_wellplate_16point8ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_96_wellplate_360ul_flat:
   category:
@@ -104,7 +96,6 @@ corning_96_wellplate_360ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_100ul_pcr_full_skirt:
   category:
@@ -136,7 +127,6 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
   category:
@@ -148,7 +138,6 @@ nest_96_wellplate_200ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_2ml_deep:
   category:
@@ -171,7 +160,6 @@ nest_96_wellplate_2ml_deep:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:
   category:
@@ -183,7 +171,6 @@ thermoscientificnunc_96_wellplate_1300ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_2000ul:
   category:
@@ -195,7 +182,6 @@ thermoscientificnunc_96_wellplate_2000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_96_wellplate_2point4ml_deep:
   category:
@@ -207,5 +193,4 @@ usascientific_96_wellplate_2point4ml_deep:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -8,7 +8,6 @@ agilent_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 axygen_1_reservoir_90ml:
   category:
@@ -20,7 +19,6 @@ axygen_1_reservoir_90ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_12_reservoir_15ml:
   category:
@@ -32,7 +30,6 @@ nest_12_reservoir_15ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_195ml:
   category:
@@ -44,7 +41,6 @@ nest_1_reservoir_195ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_290ml:
   category:
@@ -56,7 +52,6 @@ nest_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_12_reservoir_22ml:
   category:
@@ -68,5 +63,4 @@ usascientific_12_reservoir_22ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -8,7 +8,6 @@ eppendorf_96_tiprack_1000ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 eppendorf_96_tiprack_10ul_eptips:
   category:
@@ -20,7 +19,6 @@ eppendorf_96_tiprack_10ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_1000ul:
   category:
@@ -32,7 +30,6 @@ geb_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_10ul:
   category:
@@ -44,7 +41,6 @@ geb_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_1000ul:
   category:
@@ -75,7 +71,6 @@ opentrons_96_filtertiprack_1000ul:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:
   category:
@@ -87,7 +82,6 @@ opentrons_96_filtertiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_200ul:
   category:
@@ -99,7 +93,6 @@ opentrons_96_filtertiprack_200ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_20ul:
   category:
@@ -111,7 +104,6 @@ opentrons_96_filtertiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_1000ul:
   category:
@@ -123,7 +115,6 @@ opentrons_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_10ul:
   category:
@@ -135,7 +126,6 @@ opentrons_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_20ul:
   category:
@@ -147,7 +137,6 @@ opentrons_96_tiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_300ul:
   category:

unilabos/registry/resources/opentrons/tube_racks.yaml

@@ -8,7 +8,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   category:
@@ -20,7 +19,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   category:
@@ -32,7 +30,6 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_falcon_15ml_conical:
   category:
@@ -44,7 +41,6 @@ opentrons_15_tuberack_falcon_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_nest_15ml_conical:
   category:
@@ -56,7 +52,6 @@ opentrons_15_tuberack_nest_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_generic_2ml_screwcap:
   category:
@@ -68,7 +63,6 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   category:
@@ -80,7 +74,6 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   category:
@@ -92,7 +85,6 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   category:
@@ -104,7 +96,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   category:
@@ -116,7 +107,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   category:
@@ -128,7 +118,6 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_2ml_screwcap:
   category:
@@ -140,7 +129,6 @@ opentrons_24_tuberack_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_0point5ml_screwcap:
   category:
@@ -152,7 +140,6 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_screwcap:
   category:
@@ -164,7 +151,6 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_snapcap:
   category:
@@ -176,7 +162,6 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_screwcap:
   category:
@@ -188,7 +173,6 @@ opentrons_24_tuberack_nest_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_snapcap:
   category:
@@ -200,7 +184,6 @@ opentrons_24_tuberack_nest_2ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_falcon_50ml_conical:
   category:
@@ -212,7 +195,6 @@ opentrons_6_tuberack_falcon_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_nest_50ml_conical:
   category:
@@ -224,7 +206,6 @@ opentrons_6_tuberack_nest_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_well_aluminum_block:
   category:
@@ -236,5 +217,4 @@ opentrons_96_well_aluminum_block:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/organic/container.yaml

@@ -29,5 +29,4 @@ container:
     side: WEST
   icon: Flask.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -8,7 +8,6 @@ POST_PROCESS_Raw_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 POST_PROCESS_Reaction_1BottleCarrier:
   category:
@@ -20,5 +19,4 @@ POST_PROCESS_Reaction_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/deck.yaml

@@ -9,5 +9,4 @@ post_process_deck:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/modules.yaml

@@ -0,0 +1,70 @@
+PRCXI_Heating_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Module
+    type: pylabrobot
+  description: '加热模块 (Code: HEAT-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_MetalCooling_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_MetalCooling_Module
+    type: pylabrobot
+  description: '金属冷却模块 (Code: METAL-COOL-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Shaking_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Shaking_Module
+    type: pylabrobot
+  description: '震荡模块 (Code: SHAKE-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Heating_Shaking_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Shaking_Module
+    type: pylabrobot
+  description: '加热震荡模块 (Code: HEAT-SHAKE-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Magnetic_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Magnetic_Module
+    type: pylabrobot
+  description: '磁吸模块 (Code: MAG-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+