Update workstation code for YB4 0107

合并dev分支

.conda/base/recipe.yaml

@@ -1,62 +0,0 @@
-# unilabos: Production package (depends on unilabos-env + pip unilabos)
-# For production deployment
-
-package:
-  name: unilabos
-  version: 0.10.19
-
-source:
-  path: ../../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-    - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
-    - pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
-    - pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.14
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - zstd
-  - zstandard
-  - networkx
-  - typing_extensions
-  - websockets
-  - pint
-  - fastapi
-  - jinja2
-  - requests
-  - uvicorn
-  - if: not osx
-    then:
-    - opcua
-  - pyserial
-  - pandas
-  - pymodbus
-  - matplotlib
-  - pylibftdi
-  - uni-lab::unilabos-env ==0.10.19
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS - Production package with minimal ROS2 dependencies"

.conda/environment/recipe.yaml

@@ -1,39 +0,0 @@
-# unilabos-env: conda environment dependencies (ROS2 + conda packages)
-
-package:
-  name: unilabos-env
-  version: 0.10.19
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Python
-  - zstd
-  - zstandard
-  - conda-forge::python ==3.11.14
-  - conda-forge::opencv
-  # ROS2 dependencies (from ci-check.yml)
-  - robostack-staging::ros-humble-ros-core
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-nav2-msgs
-  - robostack-staging::ros-humble-cv-bridge
-  - robostack-staging::ros-humble-vision-opencv
-  - robostack-staging::ros-humble-tf-transformations
-  - robostack-staging::ros-humble-moveit-msgs
-  - robostack-staging::ros-humble-tf2-ros
-  - robostack-staging::ros-humble-tf2-ros-py
-  - conda-forge::transforms3d
-  - conda-forge::uv
-
-  # UniLabOS custom messages
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

@@ -1,42 +0,0 @@
-# unilabos-full: Full package with all features
-# Depends on unilabos + complete ROS2 desktop + dev tools
-
-package:
-  name: unilabos-full
-  version: 0.10.19
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.19
-  # Documentation tools
-  - sphinx
-  - sphinx_rtd_theme
-  # Web UI
-  - gradio
-  - flask
-  # Interactive development
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  # ROS2 full desktop (includes rviz2, gazebo, etc.)
-  - robostack-staging::ros-humble-desktop-full
-  # Navigation and motion control
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  # MoveIt motion planning
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  # Simulation
-  - ros-humble-simulation
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"

.conda/recipe.yaml

@@ -0,0 +1,92 @@
+package:
+  name: unilabos
+  version: 0.10.12
+
+source:
+  path: ../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+     - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
+    - call %PYTHON% -m pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../setup.py $SRC_DIR
+    - $PYTHON -m pip install $SRC_DIR
+
+
+requirements:
+  host:
+  - python ==3.11.11
+  - pip
+  - setuptools
+  - zstd
+  - zstandard
+  run:
+  - conda-forge::python ==3.11.11
+  - compilers
+  - cmake
+  - zstd
+  - zstandard
+  - ninja
+  - if: unix
+    then:
+    - make
+  - sphinx
+  - sphinx_rtd_theme
+  - numpy
+  - scipy
+  - pandas
+  - networkx
+  - matplotlib
+  - pint
+  - pyserial
+  - pyusb
+  - pylibftdi
+  - pymodbus
+  - python-can
+  - pyvisa
+  - opencv
+  - pydantic
+  - fastapi
+  - uvicorn
+  - gradio
+  - flask
+  - websockets
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  - robostack-staging::ros-humble-desktop-full
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-sensor-msgs
+  - robostack-staging::ros-humble-trajectory-msgs
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
+  - ros-humble-tf2
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
+  - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

@@ -0,0 +1,9 @@
+@echo off
+setlocal enabledelayedexpansion
+
+REM upgrade pip
+"%PREFIX%\python.exe" -m pip install --upgrade pip
+
+REM install extra deps
+"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
+"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+# make sure pip is available
+"$PREFIX/bin/python" -m pip install --upgrade pip
+
+# install extra deps
+"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
+"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

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

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

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

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

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

@@ -1,292 +0,0 @@
-# 资源高级参考
-
-本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
-
----
-
-## 1. 类继承体系
-
-```
-PyLabRobot
-├── Resource (PLR 基类)
-│   ├── Well
-│   │   └── Bottle (unilabos)        → 瓶/小瓶/烧杯/反应器
-│   ├── Deck
-│   │   └── 自定义 Deck 类 (unilabos) → 工作站台面
-│   ├── ResourceHolder               → 槽位占位符
-│   └── Container
-│       └── Battery (unilabos)       → 组装好的电池
-│
-├── ItemizedCarrier (unilabos, 继承 Resource)
-│   ├── BottleCarrier (unilabos)     → 瓶载架
-│   └── WareHouse (unilabos)         → 堆栈仓库
-│
-├── ItemizedResource (PLR)
-│   └── MagazineHolder (unilabos)    → 子弹夹载架
-│
-└── ResourceStack (PLR)
-    └── Magazine (unilabos)          → 子弹夹洞位
-```
-
-### Bottle 类细节
-
-```python
-class Bottle(Well):
-    def __init__(self, name, diameter, height, max_volume,
-                 size_x=0.0, size_y=0.0, size_z=0.0,
-                 barcode=None, category="container", model=None, **kwargs):
-        super().__init__(
-            name=name,
-            size_x=diameter,    # PLR 用 diameter 作为 size_x/size_y
-            size_y=diameter,
-            size_z=height,      # PLR 用 height 作为 size_z
-            max_volume=max_volume,
-            category=category,
-            model=model,
-            bottom_type="flat",
-            cross_section_type="circle"
-        )
-```
-
-注意 `size_x = size_y = diameter`，`size_z = height`。
-
-### ItemizedCarrier 核心方法
-
-| 方法 | 说明 |
-|------|------|
-| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
-| `__setitem__(identifier, resource)` | 向槽位放入资源 |
-| `get_child_identifier(child)` | 获取子资源的标识符 |
-| `capacity` | 总槽位数 |
-| `sites` | 所有槽位字典 |
-
----
-
-## 2. 序列化与反序列化
-
-### PLR ↔ UniLab 转换
-
-| 函数 | 位置 | 方向 |
-|------|------|------|
-| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
-| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
-
-### `from_plr_resources` 流程
-
-```
-PLR Resource
-    ↓ build_uuid_mapping (递归生成 UUID)
-    ↓ resource.serialize() → dict
-    ↓ resource.serialize_all_state() → states
-    ↓ resource_plr_inner (递归构建 ResourceDictInstance)
-ResourceTreeSet
-```
-
-关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
-
-### `to_plr_resources` 流程
-
-```
-ResourceTreeSet
-    ↓ collect_node_data (收集 UUID、状态、扩展数据)
-    ↓ node_to_plr_dict (转为 PLR 字典格式)
-    ↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
-    ↓ sub_cls.deserialize(plr_dict) (反序列化)
-    ↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
-PLR Resource
-```
-
-### Bottle 序列化
-
-```python
-class Bottle(Well):
-    def serialize(self) -> dict:
-        data = super().serialize()
-        return {**data, "diameter": self.diameter, "height": self.height}
-
-    @classmethod
-    def deserialize(cls, data: dict, allow_marshal=False):
-        barcode_data = data.pop("barcode", None)
-        instance = super().deserialize(data, allow_marshal=allow_marshal)
-        if barcode_data and isinstance(barcode_data, str):
-            instance.barcode = barcode_data
-        return instance
-```
-
----
-
-## 3. Bioyond 物料同步
-
-### 双向转换函数
-
-| 函数 | 位置 | 方向 |
-|------|------|------|
-| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
-| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
-
-### `resource_bioyond_to_plr` 流程
-
-```
-Bioyond 物料列表
-    ↓ reverse_type_mapping: {typeName → (model, UUID)}
-    ↓ 对每个物料:
-       typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
-       initialize_resource({"name": unique_name, "class": model})
-    ↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
-    ↓ 处理 detail (子物料/坐标)
-    ↓ 按 locationName 放入 deck.warehouses 对应槽位
-PLR 资源列表
-```
-
-### `resource_plr_to_bioyond` 流程
-
-```
-PLR 资源列表
-    ↓ 遍历每个资源:
-       载架(capacity > 1): 生成 details 子物料 + 坐标
-       单瓶: 直接映射
-    ↓ type_mapping 查找 typeId
-    ↓ warehouse_mapping 查找位置 UUID
-    ↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
-Bioyond 物料列表
-```
-
-### BioyondResourceSynchronizer
-
-工作站通过 `ResourceSynchronizer` 自动同步物料：
-
-```python
-class BioyondResourceSynchronizer(ResourceSynchronizer):
-    def sync_from_external(self) -> bool:
-        all_data = []
-        all_data.extend(api_client.stock_material('{"typeMode": 0}'))  # 耗材
-        all_data.extend(api_client.stock_material('{"typeMode": 1}'))  # 样品
-        all_data.extend(api_client.stock_material('{"typeMode": 2}'))  # 试剂
-        unilab_resources = resource_bioyond_to_plr(
-            all_data,
-            type_mapping=self.workstation.bioyond_config["material_type_mappings"],
-            deck=self.workstation.deck
-        )
-        # 更新 deck 上的资源
-```
-
----
-
-## 4. 非瓶类资源
-
-### ElectrodeSheet（极片）
-
-路径：`unilabos/resources/battery/electrode_sheet.py`
-
-```python
-class ElectrodeSheet(ResourcePLR):
-    """片状材料（极片、隔膜、弹片、垫片等）"""
-    _unilabos_state = {
-        "diameter": 0.0,
-        "thickness": 0.0,
-        "mass": 0.0,
-        "material_type": "",
-        "color": "",
-        "info": "",
-    }
-```
-
-工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
-
-### Battery（电池）
-
-```python
-class Battery(Container):
-    """组装好的电池"""
-    _unilabos_state = {
-        "color": "",
-        "electrolyte_name": "",
-        "open_circuit_voltage": 0.0,
-    }
-```
-
-### Magazine / MagazineHolder（子弹夹）
-
-```python
-class Magazine(ResourceStack):
-    """子弹夹洞位，可堆叠 ElectrodeSheet"""
-    # direction, max_sheets
-
-class MagazineHolder(ItemizedResource):
-    """多洞位子弹夹"""
-    # hole_diameter, hole_depth, max_sheets_per_hole
-```
-
-工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
-
----
-
-## 5. 仓库工厂模式参考
-
-### 实际 warehouse 工厂函数示例
-
-```python
-# 行优先 4x4 仓库
-def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        layout="row-major",  # A01,A02,A03,A04, B01,...
-    )
-
-# 右侧 4x4 仓库（列名偏移）
-def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        col_offset=4,      # A05,A06,A07,A08
-        layout="row-major",
-    )
-
-# 竖向仓库（站内试剂存放）
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=1, num_items_y=2, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        layout="vertical-col-major",
-    )
-
-# 行偏移（F 行开始）
-def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=3, num_items_y=5, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=159.0, item_dy=183.0, item_dz=130.0,
-        row_offset=row_offset,  # 0→A行起，5→F行起
-        layout="row-major",
-    )
-```
-
-### layout 类型说明
-
-| layout | 命名顺序 | 适用场景 |
-|--------|---------|---------|
-| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
-| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
-| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
-
----
-
-## 6. 关键路径
-
-| 内容 | 路径 |
-|------|------|
-| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
-| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
-| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
-| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
-| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
-| 电池资源 | `unilabos/resources/battery/` |
-| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |

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

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

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

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

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

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

.github/dependabot.yml

@@ -1,19 +0,0 @@
-version: 2
-updates:
-# GitHub Actions
-- package-ecosystem: "github-actions"
-  directory: "/"
-  target-branch: "dev"
-  schedule:
-    interval: "weekly"
-    day: "monday"
-    time: "06:00"
-  open-pull-requests-limit: 5
-  reviewers:
-  - "msgcenterpy-team"
-  labels:
-  - "dependencies"
-  - "github-actions"
-  commit-message:
-    prefix: "ci"
-    include: "scope"

.github/workflows/ci-check.yml

@@ -1,67 +0,0 @@
-name: CI Check
-
-on:
-  push:
-    branches: [main, dev]
-  pull_request:
-    branches: [main, dev]
-
-jobs:
-  registry-check:
-    runs-on: windows-latest
-
-    env:
-      # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
-      PYTHONIOENCODING: utf-8
-      PYTHONUTF8: 1
-
-    defaults:
-      run:
-        shell: cmd
-
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Setup Miniforge
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniforge-version: latest
-          use-mamba: true
-          channels: robostack-staging,conda-forge,uni-lab
-          channel-priority: flexible
-          activate-environment: check-env
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install ROS dependencies, uv and unilabos-msgs
-        run: |
-          echo Installing ROS dependencies...
-          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
-
-      - name: Install pip dependencies and unilabos
-        run: |
-          call conda activate check-env
-          echo Installing pip dependencies...
-          uv pip install -r unilabos/utils/requirements.txt
-          uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
-          uv pip uninstall enum34 || echo enum34 not installed, skipping
-          uv pip install .
-
-      - name: Run check mode (AST registry validation)
-        run: |
-          call conda activate check-env
-          echo Running check mode...
-          python -m unilabos --check_mode --skip_env_check
-
-      - name: Check for uncommitted changes
-        shell: bash
-        run: |
-          if ! git diff --exit-code; then
-            echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
-            echo "变化的文件:"
-            git diff --name-only
-            exit 1
-          fi
-          echo "检查通过：无文件变化"

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

@@ -13,11 +13,6 @@ on:
         required: false
         default: 'win-64'
         type: string
-      build_full:
-        description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
   build-conda-pack:
@@ -29,7 +24,7 @@ jobs:
             platform: linux-64
             env_file: unilabos-linux-64.yaml
             script_ext: sh
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-13 # Intel
             platform: osx-64
             env_file: unilabos-osx-64.yaml
             script_ext: sh
@@ -62,7 +57,7 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         if: steps.should_build.outputs.should_build == 'true'
         with:
           ref: ${{ github.event.inputs.branch }}
@@ -74,7 +69,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -86,14 +81,7 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          ) else (
-            echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          )
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -101,14 +89,7 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          echo "Build full: ${{ github.event.inputs.build_full }}"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          else
-            echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          fi
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
@@ -312,7 +293,7 @@ jobs:
 
       - name: Upload distribution package
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         with:
           name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
           path: dist-package/
@@ -327,12 +308,7 @@ jobs:
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
           echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.14
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Package: unilabos-full ^(complete^)
-          ) else (
-            echo Package: unilabos ^(minimal^)
-          )
+          echo Python version: 3.11.11
           echo.
           echo Distribution package contents:
           dir dist-package
@@ -352,12 +328,7 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.14"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "Package: unilabos-full (complete)"
-          else
-            echo "Package: unilabos (minimal)"
-          fi
+          echo "Python version: 3.11.11"
           echo ""
           echo "Distribution package contents:"
           ls -lh dist-package/

.github/workflows/deploy-docs.yml

@@ -1,12 +1,10 @@
 name: Deploy Docs
 
 on:
-  # 在 CI Check 成功后自动触发（仅 main 分支）
-  workflow_run:
-    workflows: ["CI Check"]
-    types: [completed]
+  push:
+    branches: [main]
+  pull_request:
     branches: [main]
-  # 手动触发
   workflow_dispatch:
     inputs:
       branch:
@@ -35,19 +33,12 @@ concurrency:
 jobs:
   # Build documentation
   build:
-    # 只在以下情况运行：
-    # 1. workflow_run 触发且 CI Check 成功
-    # 2. 手动触发
-    if: |
-      github.event_name == 'workflow_dispatch' ||
-      (github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
-        uses: actions/checkout@v6
+        uses: actions/checkout@v4
         with:
-          # workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
-          ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
+          ref: ${{ github.event.inputs.branch || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
@@ -55,7 +46,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -84,10 +75,8 @@ jobs:
 
       - name: Setup Pages
         id: pages
-        uses: actions/configure-pages@v5
-        if: |
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/configure-pages@v4
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
 
       - name: Build Sphinx documentation
         run: |
@@ -105,18 +94,14 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v4
-        if: |
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/upload-pages-artifact@v3
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
         with:
           path: docs/_build/html
 
   # Deploy to GitHub Pages
   deploy:
-    if: |
-      github.event.workflow_run.head_branch == 'main' ||
-      (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}

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

@@ -1,16 +1,11 @@
 name: Multi-Platform Conda Build
 
 on:
-  # 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
-  workflow_run:
-    workflows: ["CI Check"]
-    types:
-      - completed
-    branches: [main, dev]
-  # 支持 tag 推送（不依赖 CI Check）
   push:
+    branches: [main, dev]
     tags: ['v*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
@@ -22,37 +17,9 @@ on:
         required: false
         default: false
         type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
   build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -60,7 +27,7 @@ jobs:
           - os: ubuntu-latest
             platform: linux-64
             env_file: unilabos-linux-64.yaml
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-13 # Intel
             platform: osx-64
             env_file: unilabos-osx-64.yaml
           - os: macos-latest # ARM64
@@ -77,10 +44,8 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -104,6 +69,7 @@ jobs:
           channels: conda-forge,robostack-staging,defaults
           channel-priority: strict
           activate-environment: build-env
+          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -149,7 +115,7 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         with:
           name: conda-package-${{ matrix.platform }}
           path: conda-packages-temp

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

@@ -1,69 +1,32 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 CI Check 成功后自动触发
-  workflow_run:
-    workflows: ["CI Check"]
-    types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
   push:
+    branches: [main, dev]
     tags: ['v*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'linux-64'
-      build_full:
-        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
-        required: false
-        default: false
-        type: boolean
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
         default: false
         type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
   build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-13 # Intel
             platform: osx-64
           - os: macos-latest # ARM64
             platform: osx-arm64
@@ -77,10 +40,8 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -104,6 +65,7 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: strict
           activate-environment: build-env
+          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -119,61 +81,12 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
+          echo "Building UniLabOS package"
 
-      - name: Build unilabos-env (conda environment only, noarch)
+      - name: Build conda package
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          echo "Building unilabos-env (conda environment dependencies)..."
-          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: Upload unilabos-env to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos-env to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-env*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos (with pip package)
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Building unilabos package..."
-          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
-          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
-
-      - name: Upload unilabos to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos-full - Only when explicitly requested
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event.inputs.build_full == 'true'
-        run: |
-          echo "Building unilabos-full package on ${{ matrix.platform }}..."
-          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
-
-      - name: Upload unilabos-full to Anaconda.org (if enabled)
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event.inputs.build_full == 'true' &&
-          github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos-full to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-full*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
+          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -195,9 +108,17 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         with:
           name: conda-package-unilabos-${{ matrix.platform }}
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
+
+      - name: Upload to Anaconda.org (uni-lab organization)
+        if: github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          for package in $(find ./output -name "*.conda"); do
+            echo "Uploading $package to uni-lab organization..."
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done

.gitignore

@@ -1,11 +1,8 @@
-cursor_docs/
 configs/
 temp/
 output/
 unilabos_data/
 pyrightconfig.json
-.cursorignore
-device_package*/
 ## Python
 
 # Byte-compiled / optimized / DLL files

AGENTS.md

@@ -1,87 +0,0 @@
-# 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

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

MANIFEST.in

@@ -1,5 +1,4 @@
 recursive-include unilabos/test *
-recursive-include unilabos/utils *
 recursive-include unilabos/registry *.yaml
 recursive-include unilabos/app/web/static *
 recursive-include unilabos/app/web/templates *

NOTICE

@@ -1,17 +0,0 @@
-# Uni-Lab-OS Licensing Notice
-
-This project uses a dual licensing structure:
-
-## 1. Main Framework - GPL-3.0
-
-- unilabos/ (except unilabos/devices/)
-- docs/
-- tests/
-
-See [LICENSE](LICENSE) for details.
-
-## 2. Device Drivers - DP Technology Proprietary License
-
-- unilabos/devices/
-
-See [unilabos/devices/LICENSE](unilabos/devices/LICENSE) for details.

README.md

@@ -8,13 +8,17 @@
 
 **English** | [中文](README_zh.md)
 
-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
-[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
-[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues)
-[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
 Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
 
+## 🏆 Competition
+
+Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
+
 ## Key Features
 
 - Multi-device integration management
@@ -27,89 +31,41 @@ Uni-Lab-OS is a platform for laboratory automation, designed to connect and cont
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://deepmodeling.github.io/Uni-Lab-OS/)
+- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
 
 ## Quick Start
 
-### 1. Setup Conda Environment
-
-Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
-
-| Package | Use Case | Contents |
-|---------|----------|----------|
-| `unilabos` | **Recommended for most users** | Complete package, ready to use |
-| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
-| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
-# Option A: Standard installation (recommended for most users)
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# Option B: For developers (editable mode development)
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# Then install unilabos and dependencies:
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Option C: Full installation (simulation/visualization)
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-**When to use which?**
-- **unilabos**: Standard installation for production deployment and general usage (recommended)
-- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
-- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
-
-### 2. Clone Repository (Optional, for developers)
+## Install Dev Uni-Lab-OS
 
 ```bash
-# Clone the repository (only needed for development or examples)
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+# Clone the repository
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# Install Uni-Lab-OS
+pip install .
 ```
 
-3. Start Uni-Lab System
+3. Start Uni-Lab System:
 
-Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
-
-4. Best Practice
-
-See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
+Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
 
 ## Message Format
 
-Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
-
-## Citation
-
-If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
-
-```bibtex
-@article{gao2025unilabos,
-    title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
-    doi = {10.48550/arXiv.2512.21766},
-    publisher = {arXiv},
-    author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
-              Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
-              Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
-              Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
-    year = {2025}
-}
-```
+Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
 
 ## License
 
-This project uses a dual licensing structure:
-
-- **Main Framework**: GPL-3.0 - see [LICENSE](LICENSE)
-- **Device Drivers** (`unilabos/devices/`): DP Technology Proprietary License
-
-See [NOTICE](NOTICE) for complete licensing details.
+This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
 
 ## Project Statistics
 
@@ -121,4 +77,4 @@ See [NOTICE](NOTICE) for complete licensing details.
 
 ## Contact Us
 
-- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -8,13 +8,17 @@
 
 [English](README.md) | **中文**
 
-[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
-[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
-[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues)
-[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
 Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
 
+## 🏆 比赛
+
+欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
+
 ## 核心特点
 
 - 多设备集成管理
@@ -27,89 +31,43 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://deepmodeling.github.io/Uni-Lab-OS/)
+- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
 
 ## 快速开始
 
-### 1. 配置 Conda 环境
+1. 配置 Conda 环境
 
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
-
-| 安装包 | 适用场景 | 包含内容 |
-|--------|----------|----------|
-| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
-| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
-# 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# 然后安装 unilabos 和依赖：
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# 方案 C：完整安装（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-**如何选择？**
-- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
-- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
-- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
-
-### 2. 克隆仓库（可选，供开发者使用）
+2. 安装开发版 Uni-Lab-OS:
 
 ```bash
-# 克隆仓库（仅开发或查看示例时需要）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+# 克隆仓库
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install .
 ```
 
-3. 启动 Uni-Lab 系统
+3. 启动 Uni-Lab 系统:
 
-请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
-
-4. 最佳实践
-
-请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
+请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
 
 ## 消息格式
 
-Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
-
-## 引用
-
-如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
-
-```bibtex
-@article{gao2025unilabos,
-    title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
-    doi = {10.48550/arXiv.2512.21766},
-    publisher = {arXiv},
-    author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
-              Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
-              Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
-              Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
-    year = {2025}
-}
-```
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
 
 ## 许可证
 
-本项目采用双许可证结构：
-
-- **主框架**：GPL-3.0 - 详见 [LICENSE](LICENSE)
-- **设备驱动** (`unilabos/devices/`)：深势科技专有许可证
-
-完整许可证说明请参阅 [NOTICE](NOTICE)。
+此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
 
 ## 项目统计
 
@@ -121,4 +79,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
 
 ## 联系我们
 
-- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

docs/conf.py

@@ -24,7 +24,7 @@ extensions = [
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
     "sphinx_rtd_theme",
-    "sphinxcontrib.mermaid",
+    "sphinxcontrib.mermaid"
 ]
 
 source_suffix = {
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"
 
 # sphinx-book-theme 主题选项
 html_theme_options = {
-    "repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
+    "repository_url": "https://github.com/用户名/Uni-Lab",
     "use_repository_button": True,
     "use_issues_button": True,
     "use_edit_page_button": True,

docs/developer_guide/add_device.md

@@ -15,9 +15,6 @@ 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
@@ -26,23 +23,19 @@ 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
 
-    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
+    # 会被自动识别的设备属性，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
 
@@ -156,7 +149,7 @@ 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 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
+- `status_types`：从 `@property` 装饰的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
@@ -186,9 +179,7 @@ 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
 
@@ -207,9 +198,8 @@ 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（通过 @topic_config 广播）"""
+        """设备状态（会自动广播）"""
         return self._status
 
     def my_action(self, param: float) -> Dict[str, Any]:
@@ -227,61 +217,34 @@ class MyDevice:
 
 ## 状态属性 vs 动作方法
 
-### 状态属性（@property + @topic_config）
+### 状态属性（@property）
 
-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：
+状态属性会被自动识别并定期广播：
 
 ```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**:
 
-- 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`
+- 使用`@property`装饰器
+- 只读，不能有参数
+- 自动添加到注册表的`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：
@@ -534,7 +497,6 @@ class LiquidHandler:
         self._status = "idle"
 
     @property
-    @topic_config()
     def status(self) -> str:
         return self._status
 
@@ -924,52 +886,7 @@ class MyDevice:
 
 ## 最佳实践
 
-### 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
+### 1. 类型注解
 
 ```python
 from typing import Dict, Any, Optional, List
@@ -984,7 +901,7 @@ def method(
     pass
 ```
 
-### 4. 文档字符串
+### 2. 文档字符串
 
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
     pass
 ```
 
-### 5. 配置验证
+### 3. 配置验证
 
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
     self.baudrate = config['baudrate']
 ```
 
-### 6. 资源清理
+### 4. 资源清理
 
 ```python
 def __del__(self):
@@ -1029,7 +946,7 @@ def __del__(self):
         self.connection.close()
 ```
 
-### 7. 设计前端友好的返回值
+### 5. 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

@@ -422,20 +422,18 @@ placeholder_keys:
 
 ### status_types
 
-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：
+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：
 
 ```yaml
 status_types:
-  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
-  is_heating: bool
-  status: str
+  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
 ```
 
 **注意事项**：
 
-- 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`）
+- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
 - 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`
 
@@ -539,13 +537,11 @@ 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
@@ -813,23 +809,21 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 
 ```python
-from unilabos.registry.decorators import device, topic_config
+from unilabos.common.device_base import DeviceBase
 
-@device(id="my_device", category=["temperature"], description="My Device")
-class MyDevice:
+class MyDevice(DeviceBase):
     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（必须添加 @topic_config 才会生成到 status_types 并广播）
+    # 状态方法（会自动生成到 status_types）
     @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
@@ -1045,34 +1039,7 @@ resource.type      # "resource"
 
 ### 代码规范
 
-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**
+1. **始终使用类型注解**
 
 ```python
 # ✓ 好
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
     pass
 ```
 
-4. **提供有意义的参数名**
+2. **提供有意义的参数名**
 
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-5. **使用 Optional 表示可选参数**
+3. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1109,7 +1076,7 @@ def method(
     pass
 ```
 
-6. **添加详细的文档字符串**
+4. **添加详细的文档字符串**
 
 ```python
 def method(
@@ -1129,13 +1096,13 @@ def method(
     pass
 ```
 
-7. **方法命名规范**
+5. **方法命名规范**
 
-   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
+   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
    - 动作方法使用动词开头
    - 保持命名清晰、一致
 
-8. **完善的错误处理**
+6. **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
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 ```
 
 ---

docs/requirements.txt

@@ -12,7 +12,3 @@ sphinx-copybutton>=0.5.0
 
 # 用于自动摘要生成
 sphinx-autobuild>=2024.2.4
-
-# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
-rinohtype>=0.5.4
-sphinx-simplepdf>=1.6.0

docs/user_guide/best_practice.md

@@ -31,14 +31,6 @@
 
 详细的安装步骤请参考 [安装指南](installation.md)。
 
-**选择合适的安装包：**
-
-| 安装包 | 适用场景 | 包含组件 |
-|--------|----------|----------|
-| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
-| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
-
 **关键步骤：**
 
 ```bash
@@ -46,30 +38,15 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
 
 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 
 # 3. 激活环境
 mamba activate unilab
 
-# 4. 安装 Uni-Lab-OS（选择其一）
-
-# 方案 A：标准安装（推荐大多数用户）
+# 4. 安装 Uni-Lab-OS
 mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-pip install -e /path/to/Uni-Lab-OS  # 可编辑安装
-uv pip install -r unilabos/utils/requirements.txt  # 安装 pip 依赖
-
-# 方案 C：完整版（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-**选择建议：**
-- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
-- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
-- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
-
 #### 1.2 验证安装
 
 ```bash
@@ -439,9 +416,6 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 1. 访问 Web 界面，进入"仪器耗材"模块
 2. 在"仪器设备"区域找到并添加上述设备
 3. 在"物料耗材"区域找到并添加容器
-4. 在workstation中配置protocol_type包含PumpTransferProtocol
-
-![添加Protocol类型](image/add_protocol.png)
 
 ![物料列表](image/material.png)
 
@@ -452,9 +426,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 **操作步骤：**
 
 1. 将两个 `container` 拖拽到 `workstation` 中
-2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
-3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-4. 在画布上连接它们（建立父子关系）
+2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+3. 在画布上连接它们（建立父子关系）
 
 ![设备连接](image/links.png)
 
@@ -795,43 +768,7 @@ Waiting for host service...
 
 详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
 
-#### 9.1 开发环境准备
-
-**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
-
-```bash
-# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
-mamba create -n unilab python=3.11.14
-conda activate unilab
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-
-# 2. 克隆代码
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
-cd Uni-Lab-OS
-
-# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
-python scripts/dev_install.py
-
-# 或手动安装：
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-```
-
-**为什么使用这种方式？**
-- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
-- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
-- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
-- 使用 `uv` 替代 `pip`，安装速度更快
-- 可编辑模式：代码修改**立即生效**，无需重新安装
-
-**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
-
-```bash
-pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-```
-
-#### 9.2 为什么需要自定义设备？
+#### 9.1 为什么需要自定义设备？
 
 Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
 
@@ -840,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
 - 特殊的实验流程
 - 第三方设备集成
 
-#### 9.3 创建 Python 包
+#### 9.2 创建 Python 包
 
 为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
 
@@ -877,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
 touch my_lab_devices/my_lab_devices/devices/__init__.py
 ```
 
-#### 9.4 创建 setup.py
+#### 9.3 创建 setup.py
 
 ```python
 # my_lab_devices/setup.py
@@ -908,7 +845,7 @@ setup(
 )
 ```
 
-#### 9.5 开发安装
+#### 9.4 开发安装
 
 使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
 
@@ -923,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 - 方便调试和测试
 - 支持版本控制（git）
 
-#### 9.6 编写设备驱动
+#### 9.5 编写设备驱动
 
 创建设备驱动文件：
 
@@ -1064,7 +1001,7 @@ class MyPump:
 - **返回 Dict**：所有动作方法返回字典类型
 - **文档字符串**：详细说明参数和功能
 
-#### 9.7 测试设备驱动
+#### 9.6 测试设备驱动
 
 创建简单的测试脚本：
 
@@ -1870,7 +1807,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
 
 #### 14.5 社区支持
 
-- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+- **GitHub Issues**：[https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 - **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
 
 ---

docs/user_guide/graph_files.md

@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
 ### 使用示例
 
 ```python
-from unilabos.resources.resource_tracker import ResourceDictInstance
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 
 # 旧格式节点
 old_format_node = {
@@ -477,10 +477,10 @@ old_format_node = {
 instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
 
 # 访问标准化后的数据
-print(instance.res_content.id)  # "pump_1"
-print(instance.res_content.uuid)  # 自动生成的 UUID
+print(instance.res_content.id)      # "pump_1"
+print(instance.res_content.uuid)    # 自动生成的 UUID
 print(instance.res_content.config)  # {}
-print(instance.res_content.data)  # {}
+print(instance.res_content.data)    # {}
 ```
 
 ### 格式迁移建议
@@ -857,4 +857,4 @@ class ResourceDictPosition(BaseModel):
 - 在 Web 界面中使用模板创建
 - 参考示例文件：`test/experiments/` 目录
 - 查看 ResourceDict 源码了解完整定义
-- [GitHub 讨论区](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
+- [GitHub 讨论区](https://github.com/dptech-corp/Uni-Lab-OS/discussions)

docs/user_guide/installation.md

@@ -13,26 +13,15 @@
   - 开发者需要 Git 和基本的 Python 开发知识
   - 自定义 msgs 需要 GitHub 账号
 
-## 安装包选择
-
-Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
-
-| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
-|--------|----------|----------|----------|
-| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
-| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
-| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
-
 ## 安装方式选择
 
 根据您的使用场景，选择合适的安装方式：
 
-| 安装方式               | 适用人群             | 推荐安装包        | 特点                           | 安装时间                     |
-| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
-| **方式一：一键安装**   | 快速体验、演示       | 预打包环境        | 离线可用，无需配置             | 5-10 分钟 (网络良好的情况下) |
-| **方式二：手动安装**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
-| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 分钟                   |
-| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
+| 安装方式               | 适用人群             | 特点                           | 安装时间                     |
+| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
+| **方式一：一键安装**   | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
+| **方式二：手动安装**   | 标准用户、生产环境   | 灵活配置，版本可控             | 10-20 分钟                   |
+| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs    | 20-30 分钟                   |
 
 ---
 
@@ -48,7 +37,7 @@ Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
 
 #### 第一步：下载预打包环境
 
-1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/deepmodeling/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
+1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
 
 2. 选择最新的成功构建记录（绿色勾号 ✓）
 
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：
 
 ```bash
-mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
+mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
 mamba activate unilab
-
-# 选择安装包（三选一）：
-
-# 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# 然后安装 unilabos 和 pip 依赖：
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# 方案 C：完整版（含仿真和可视化工具）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 **参数说明**:
 
 - `-n unilab`: 创建名为 "unilab" 的环境
-- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
-- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
-- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
+- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
 - `-c robostack-staging -c conda-forge`: 添加额外的软件源
 
-**包选择建议**：
-- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
-- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
-- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
-
 **如果遇到网络问题**，可以使用清华镜像源加速下载：
 
 ```bash
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
 
-# 然后重新执行安装命令（推荐标准安装）
+# 然后重新执行安装命令
 mamba create -n unilab uni-lab::unilabos -c robostack-staging
-
-# 或完整版（仿真/可视化）
-mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
-
-# pip 安装时使用清华镜像（开发者安装时使用）
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
 ### 第三步：激活环境
@@ -227,13 +189,13 @@ conda activate unilab
 ### 第一步：克隆仓库
 
 ```bash
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
 cd Uni-Lab-OS
 ```
 
 如果您需要贡献代码，建议先 Fork 仓库：
 
-1. 访问 https://github.com/deepmodeling/Uni-Lab-OS
+1. 访问 https://github.com/dptech-corp/Uni-Lab-OS
 2. 点击右上角的 "Fork" 按钮
 3. Clone 您的 Fork 版本：
    ```bash
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
    cd Uni-Lab-OS
    ```
 
-### 第二步：安装开发环境（unilabos-env）
+### 第二步：安装基础环境
 
-**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
-- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
-- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
-- 包含 `uv` 工具，用于快速安装 pip 依赖
-- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
+**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
+
+#### 选项 A：通过一键安装（推荐）
+
+参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
 
 ```bash
-# 创建并激活环境
-mamba create -n unilab python=3.11.14
 conda activate unilab
-
-# 安装开发者环境包（ROS2 + conda 依赖 + uv）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
 ```
 
-### 第三步：安装 pip 依赖和可编辑模式安装
+#### 选项 B：通过手动安装
 
-克隆代码并安装依赖：
+参考上文"方式二：手动安装"，创建并安装环境：
+
+```bash
+mamba create -n unilab python=3.11.11
+conda activate unilab
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+```
+
+**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
+
+### 第三步：切换到开发版本
+
+现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
 
 ```bash
 # 确保环境已激活
 conda activate unilab
 
-# 克隆仓库（如果还未克隆）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
-cd Uni-Lab-OS
+# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
+pip uninstall unilabos -y
 
-# 切换到 dev 分支（可选）
+# 克隆 dev 分支（如果还未克隆）
+cd /path/to/your/workspace
+git clone -b dev https://github.com/dptech-corp/Uni-Lab-OS.git
+# 或者如果已经克隆，切换到 dev 分支
+cd Uni-Lab-OS
 git checkout dev
 git pull
-```
 
-**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
-
-```bash
-# 自动检测中文环境，如果是中文系统则使用清华镜像
-python scripts/dev_install.py
-
-# 或者手动指定：
-python scripts/dev_install.py --china     # 强制使用清华镜像
-python scripts/dev_install.py --no-mirror # 强制使用 PyPI
-python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
-python scripts/dev_install.py --use-pip   # 使用 pip 而非 uv
-```
-
-**手动安装**（如果脚本安装失败或速度太慢）：
-
-```bash
-# 1. 安装 unilabos（可编辑模式）
-pip install -e .
-
-# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
-uv pip install -r unilabos/utils/requirements.txt
-
-# 国内用户使用清华镜像：
+# 以可编辑模式安装开发版 unilabos
 pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
-**注意**：
-- `uv` 已包含在 `unilabos-env` 中，无需单独安装
-- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
-- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
+**参数说明**：
 
-**为什么使用可编辑模式？**
-
-- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
-- 适合开发调试：修改代码后直接运行测试
-- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
-
-**验证安装**：
-
-```bash
-# 检查 unilabos 版本
-python -c "import unilabos; print(unilabos.__version__)"
-
-# 检查安装位置（应该指向你的代码目录）
-pip show unilabos | grep Location
-```
+- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
+- `-i`: 使用清华镜像源加速下载
+- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
 
 ### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
 
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
 
 ### 问题 8: 环境很大，有办法减小吗？
 
-**解决方案**: 
-
-1. **使用 `unilabos` 标准版**（推荐大多数用户）：
-   ```bash
-   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-   ```
-   标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
-
-2. **使用 `unilabos-env` 开发者版**（最小化）：
-   ```bash
-   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-   # 然后手动安装依赖
-   pip install -e .
-   uv pip install -r unilabos/utils/requirements.txt
-   ```
-   开发者版只包含环境依赖，体积最小约 2GB。
-
-3. **按需安装额外组件**：
-   如果后续需要特定功能，可以单独安装：
-   ```bash
-   # 需要 Jupyter
-   mamba install jupyter jupyros
-   
-   # 需要可视化
-   mamba install matplotlib opencv
-   
-   # 需要仿真（注意：这会安装大量依赖）
-   mamba install ros-humble-gazebo-ros
-   ```
-
-4. **预打包环境问题**：
-   预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
-
-**包选择建议**：
-| 需求 | 推荐包 | 预估大小 |
-|------|--------|----------|
-| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
-| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
-| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
+**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
 
 ### 问题 9: 如何更新到最新版本？
 
@@ -608,15 +503,14 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 ## 需要帮助？
 
 - **故障排查**: 查看更详细的故障排查信息
-- **GitHub Issues**: [报告问题](https://github.com/deepmodeling/Uni-Lab-OS/issues)
+- **GitHub Issues**: [报告问题](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 - **开发者文档**: 查看开发者指南获取更多技术细节
-- **社区讨论**: [GitHub Discussions](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
+- **社区讨论**: [GitHub Discussions](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
 
 ---
 
 **提示**:
 
-- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
-- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
-- **仿真/可视化**推荐安装 `unilabos-full` 完整版
-- **快速体验和演示**推荐使用方式一（一键安装）
+- 生产环境推荐使用方式二（手动安装）的稳定版本
+- 开发和测试推荐使用方式三（开发者安装）
+- 快速体验和演示推荐使用方式一（一键安装）

docs/user_guide/launch.md

@@ -22,6 +22,7 @@ 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
@@ -84,7 +85,7 @@ 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**：不指定本地文件即可
+- **远程资源**：使用 `--use_remote_resource` 从云端获取
 
 ### 7. 注册表构建
 
@@ -195,7 +196,7 @@ 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
+unilab --ak your_ak --sk your_sk --use_remote_resource
 
 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry

fix_datatype.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import re
+
+filepath = r'd:\UniLab\Uni-Lab-OS\unilabos\device_comms\modbus_plc\modbus.py'
+
+with open(filepath, 'r', encoding='utf-8') as f:
+    content = f.read()
+
+# Replace the DataType placeholder with actual enum
+find_pattern = r'# DataType will be accessed via client instance.*?DataType = None  # Placeholder.*?\n'
+replacement = '''# Define DataType enum for pymodbus 2.5.3 compatibility
+class DataType(Enum):
+    INT16 = "int16"
+    UINT16 = "uint16"
+    INT32 = "int32"
+    UINT32 = "uint32"
+    INT64 = "int64"
+    UINT64 = "uint64"
+    FLOAT32 = "float32"
+    FLOAT64 = "float64"
+    STRING = "string"
+    BOOL = "bool"
+
+'''
+
+new_content = re.sub(find_pattern, replacement, content, flags=re.DOTALL)
+
+with open(filepath, 'w', encoding='utf-8') as f:
+    f.write(new_content)
+
+print('File updated successfully!')

new_cellconfig.json

@@ -0,0 +1,54 @@
+{
+  "nodes": [
+    {
+      "id": "BatteryStation",
+      "name": "扣电工作站",
+      "parent": null,
+      "children": [
+        "coin_cell_deck"
+      ],
+      "type": "device",
+      "class":"coincellassemblyworkstation_device",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+          }
+        },
+        "debug_mode": true,
+        "protocol_type": []
+      }
+    },
+    {
+      "id": "YB_YH_Deck",
+      "name": "YB_YH_Deck",
+      "children": [],
+      "parent": "BatteryStation",
+      "type": "deck",
+      "class": "CoincellDeck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
+    }
+  ],
+  "links": []
+}

new_cellconfig3c.json

@@ -0,0 +1,98 @@
+      
+{
+  "nodes": [
+    {
+      "id": "bioyond_cell_workstation",
+      "name": "配液分液工站",
+      "parent": null,
+      "children": [
+        "YB_Bioyond_Deck"
+      ],
+      "type": "device",
+      "class": "bioyond_cell",
+      "config": {
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_Bioyond_Deck",
+            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+          }
+        },
+        "protocol_type": []
+      },
+      "data": {}
+    },
+    {
+      "id": "YB_Bioyond_Deck",
+      "name": "YB_Bioyond_Deck",
+      "children": [],
+      "parent": "bioyond_cell_workstation",
+      "type": "deck",
+      "class": "BIOYOND_YB_Deck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "BIOYOND_YB_Deck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
+    },
+    {
+      "id": "BatteryStation",
+      "name": "扣电工作站",
+      "parent": null,
+      "children": [
+        "coin_cell_deck"
+      ],
+      "type": "device",
+      "class":"coincellassemblyworkstation_device",
+      "config": {
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+          }
+        },
+        "protocol_type": []
+      },
+      "position": {
+        "size": {"height": 1450, "width": 1450, "depth": 2100},
+        "position": {
+          "x": -1500,
+          "y": 0,
+          "z": 0
+        }
+      }
+    },
+    {
+      "id": "YB_YH_Deck",
+      "name": "YB_YH_Deck",
+      "children": [],
+      "parent": "BatteryStation",
+      "type": "deck",
+      "class": "CoincellDeck",
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
+    }
+  ],
+  "links": []
+}
+
+    

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.10.12
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -17,7 +17,7 @@ build:
     - bash $SRC_DIR/build_ament_cmake.sh
 
 about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
   license: BSD-3-Clause
   description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
 
@@ -25,7 +25,7 @@ requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.14
+  - python ==3.11.11
   - numpy
   - if: build_platform != target_platform
     then:
@@ -63,14 +63,14 @@ requirements:
   - robostack-staging::ros-humble-rosidl-default-generators
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
   run:
   - robostack-staging::ros-humble-action-msgs
   - robostack-staging::ros-humble-ros-workspace
   - robostack-staging::ros-humble-rosidl-default-runtime
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.19"
+  version: "0.10.12"
 
 source:
   path: ../..

scripts/create_readme.py

@@ -85,7 +85,7 @@ Verification:
 -------------
 
 The verify_installation.py script will check:
-  - Python version (3.11.14)
+  - Python version (3.11.11)
   - ROS2 rclpy installation
   - UniLabOS installation and dependencies
 
@@ -104,7 +104,7 @@ Build Information:
 
   Branch:   {branch}
   Platform: {platform}
-  Python:   3.11.14
+  Python:   3.11.11
   Date:     {build_date}
 
 Troubleshooting:
@@ -126,7 +126,7 @@ If installation fails:
 For more help:
   - Documentation: docs/user_guide/installation.md
   - Quick Start: QUICK_START_CONDA_PACK.md
-  - Issues: https://github.com/deepmodeling/Uni-Lab-OS/issues
+  - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
 
 License:
 --------
@@ -134,7 +134,7 @@ License:
 UniLabOS is licensed under GPL-3.0-only.
 See LICENSE file for details.
 
-Repository: https://github.com/deepmodeling/Uni-Lab-OS
+Repository: https://github.com/dptech-corp/Uni-Lab-OS
 """
 
     return readme

scripts/dev_install.py

@@ -1,214 +0,0 @@
-#!/usr/bin/env python3
-"""
-Development installation script for UniLabOS.
-Auto-detects Chinese locale and uses appropriate mirror.
-
-Usage:
-    python scripts/dev_install.py
-    python scripts/dev_install.py --no-mirror  # Force no mirror
-    python scripts/dev_install.py --china      # Force China mirror
-    python scripts/dev_install.py --skip-deps  # Skip pip dependencies installation
-
-Flow:
-    1. pip install -e . (install unilabos in editable mode)
-    2. Detect Chinese locale
-    3. Use uv to install pip dependencies from requirements.txt
-    4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
-"""
-
-import locale
-import subprocess
-import sys
-import argparse
-from pathlib import Path
-
-# Tsinghua mirror URL
-TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
-
-
-def is_chinese_locale() -> bool:
-    """
-    Detect if system is in Chinese locale.
-    Same logic as EnvironmentChecker._is_chinese_locale()
-    """
-    try:
-        lang = locale.getdefaultlocale()[0]
-        if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
-            return True
-    except Exception:
-        pass
-    return False
-
-
-def run_command(cmd: list, description: str, retry: int = 2) -> bool:
-    """Run command with retry support."""
-    print(f"[INFO] {description}")
-    print(f"[CMD] {' '.join(cmd)}")
-
-    for attempt in range(retry + 1):
-        try:
-            result = subprocess.run(cmd, check=True, timeout=600)
-            print(f"[OK] {description}")
-            return True
-        except subprocess.CalledProcessError as e:
-            if attempt < retry:
-                print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
-            else:
-                print(f"[ERROR] {description} failed: {e}")
-                return False
-        except subprocess.TimeoutExpired:
-            print(f"[ERROR] {description} timed out")
-            return False
-    return False
-
-
-def install_editable(project_root: Path, use_mirror: bool) -> bool:
-    """Install unilabos in editable mode using pip."""
-    cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
-    if use_mirror:
-        cmd.extend(["-i", TSINGHUA_MIRROR])
-
-    return run_command(cmd, "Installing unilabos in editable mode")
-
-
-def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
-    """Install pip dependencies using uv (installed via conda-forge::uv)."""
-    cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
-    if use_mirror:
-        cmd.extend(["-i", TSINGHUA_MIRROR])
-
-    return run_command(cmd, "Installing pip dependencies with uv", retry=2)
-
-
-def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
-    """Fallback: Install pip dependencies using pip."""
-    cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
-    if use_mirror:
-        cmd.extend(["-i", TSINGHUA_MIRROR])
-
-    return run_command(cmd, "Installing pip dependencies with pip", retry=2)
-
-
-def check_uv_available() -> bool:
-    """Check if uv is available (installed via conda-forge::uv)."""
-    try:
-        subprocess.run(["uv", "--version"], capture_output=True, check=True)
-        return True
-    except (subprocess.CalledProcessError, FileNotFoundError):
-        return False
-
-
-def main():
-    parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
-    parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
-    parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
-    parser.add_argument(
-        "--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
-    )
-    parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
-    args = parser.parse_args()
-
-    # Determine project root
-    script_dir = Path(__file__).parent
-    project_root = script_dir.parent
-    requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
-
-    if not (project_root / "setup.py").exists():
-        print(f"[ERROR] setup.py not found in {project_root}")
-        sys.exit(1)
-
-    print("=" * 60)
-    print("UniLabOS Development Installation")
-    print("=" * 60)
-    print(f"Project root: {project_root}")
-    print()
-
-    # Determine mirror usage based on locale
-    if args.no_mirror:
-        use_mirror = False
-        print("[INFO] Mirror disabled by --no-mirror flag")
-    elif args.china:
-        use_mirror = True
-        print("[INFO] China mirror enabled by --china flag")
-    else:
-        use_mirror = is_chinese_locale()
-        if use_mirror:
-            print("[INFO] Chinese locale detected, using Tsinghua mirror")
-        else:
-            print("[INFO] Non-Chinese locale detected, using default PyPI")
-
-    print()
-
-    # Step 1: Install unilabos in editable mode
-    print("[STEP 1] Installing unilabos in editable mode...")
-    if not install_editable(project_root, use_mirror):
-        print("[ERROR] Failed to install unilabos")
-        print()
-        print("Manual fallback:")
-        if use_mirror:
-            print(f"  pip install -e {project_root} -i {TSINGHUA_MIRROR}")
-        else:
-            print(f"  pip install -e {project_root}")
-        sys.exit(1)
-
-    print()
-
-    # Step 2: Install pip dependencies
-    if args.skip_deps:
-        print("[INFO] Skipping pip dependencies installation (--skip-deps)")
-    else:
-        print("[STEP 2] Installing pip dependencies...")
-
-        if not requirements_file.exists():
-            print(f"[WARN] Requirements file not found: {requirements_file}")
-            print("[INFO] Skipping dependencies installation")
-        else:
-            # Try uv first (faster), fallback to pip
-            if args.use_pip:
-                print("[INFO] Using pip (--use-pip flag)")
-                success = install_requirements_pip(requirements_file, use_mirror)
-            elif check_uv_available():
-                print("[INFO] Using uv (installed via conda-forge::uv)")
-                success = install_requirements_uv(requirements_file, use_mirror)
-                if not success:
-                    print("[WARN] uv failed, falling back to pip...")
-                    success = install_requirements_pip(requirements_file, use_mirror)
-            else:
-                print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
-                print("[INFO] Falling back to pip...")
-                success = install_requirements_pip(requirements_file, use_mirror)
-
-            if not success:
-                print()
-                print("[WARN] Failed to install some dependencies automatically.")
-                print("You can manually install them:")
-                if use_mirror:
-                    print(f"  uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
-                    print("  or:")
-                    print(f"  pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
-                else:
-                    print(f"  uv pip install -r {requirements_file}")
-                    print("  or:")
-                    print(f"  pip install -r {requirements_file}")
-
-    print()
-    print("=" * 60)
-    print("Installation complete!")
-    print("=" * 60)
-    print()
-    print("Note: Some special packages (like pylabrobot) are installed")
-    print("automatically at runtime by unilabos if needed.")
-    print()
-    print("Verify installation:")
-    print('  python -c "import unilabos; print(unilabos.__version__)"')
-    print()
-    print("If you encounter issues, you can manually install dependencies:")
-    if use_mirror:
-        print(f"  uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
-    else:
-        print("  uv pip install -r unilabos/utils/requirements.txt")
-    print()
-
-
-if __name__ == "__main__":
-    main()

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.19',
+    version='0.10.12',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/reaction_station_bioyond.json

@@ -0,0 +1,72 @@
+{
+    "nodes": [
+        {
+            "id": "reaction_station_bioyond",
+            "name": "reaction_station_bioyond",
+            "parent": null,
+            "children": [
+                "Bioyond_Deck"
+            ],
+            "type": "device",
+            "class": "reaction_station.bioyond",
+            "config": {
+                "config": {
+                    "api_key": "DE9BDDA0",
+                    "api_host": "http://192.168.1.200:44402",
+                    "workflow_mappings": {
+                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
+                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
+                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
+                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
+                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
+                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
+                    },
+                    "material_type_mappings": {
+                        "烧杯": ["YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
+                        "试剂瓶": ["YB_1BottleCarrier", ""],
+                        "样品板": ["YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
+                        "分装板": ["YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
+                        "样品瓶": ["YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
+                        "90%分装小瓶": ["YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
+                        "10%分装小瓶": ["YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                    }
+                },
+                "deck": {
+                    "data": {
+                        "_resource_child_name": "Bioyond_Deck",
+                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
+                    }
+                },
+                "protocol_type": []
+            },
+            "data": {}
+        },
+        {
+            "id": "Bioyond_Deck",
+            "name": "Bioyond_Deck",
+            "children": [
+            ],
+            "parent": "reaction_station_bioyond",
+            "type": "deck",
+            "class": "BIOYOND_PolymerReactionStation_Deck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "BIOYOND_PolymerReactionStation_Deck",
+                "setup": true,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        }
+    ]
+}

test/resources/YB_materials_info.json

@@ -0,0 +1,52 @@
+[
+    {
+        "id": "3a1d377b-299d-d0f2-ced9-48257f60dfad",
+        "typeName": "加样头(大)",
+        "code": "0005-00145",
+        "barCode": "",
+        "name": "LiDFOB",
+        "quantity": 9999.0,
+        "lockQuantity": 0.0,
+        "unit": "个",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a19da56-1379-ff7c-1745-07e200b44ce2",
+                "whid": "3a19da56-1378-613b-29f2-871e1a287aa5",
+                "whName": "粉末加样头堆栈",
+                "code": "0005-0001",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": []
+    },
+    {
+        "id": "3a1d377b-6a81-6a7e-147c-f89f6463656d",
+        "typeName": "液",
+        "code": "0006-00141",
+        "barCode": "",
+        "name": "EMC",
+        "quantity": 99999.0,
+        "lockQuantity": 0.0,
+        "unit": "g",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a1baa20-a7b1-c665-8b9c-d8099d07d2f6",
+                "whid": "3a1baa20-a7b0-5c19-8844-5de8924d4e78",
+                "whName": "4号手套箱内部堆栈",
+                "code": "0015-0001",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": []
+    }
+]

test/resources/test copy.json

@@ -0,0 +1,99 @@
+ {
+        "typeId": "3a190c8b-3284-af78-d29f-9a69463ad047",
+        "code": "",
+        "barCode": "",
+        "name": "test",
+        "unit": "",
+        "parameters": "{}",
+        "quantity": "",
+        "details": [
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)11",
+                "quantity": "1",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)21",
+                "quantity": "1",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)12",
+                "quantity": "1",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)22",
+                "quantity": "1",
+                "x": 2,
+                "y": 2,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)13",
+                "quantity": "1",
+                "x": 1,
+                "y": 3,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)23",
+                "quantity": "1",
+                "x": 2,
+                "y": 3,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)14",
+                "quantity": "1",
+                "x": 1,
+                "y": 4,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            },
+            {
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb",
+                "code": "",
+                "name": "配液瓶(小)24",
+                "quantity": "1",
+                "x": 2,
+                "y": 4,
+                "z": 1,
+                "unit": "",
+                "parameters": "{}"
+            }
+        ]
+    }

test/resources/test.json

@@ -0,0 +1,148 @@
+[
+    {
+        "id": "3a1d4c14-a9fb-d7dc-9e96-7a3ad6e50219",
+        "typeName": "配液瓶(小)板",
+        "code": "0001-00093",
+        "barCode": "",
+        "name": "test",
+        "quantity": 2.0,
+        "lockQuantity": 0.0,
+        "unit": "块",
+        "status": 1,
+        "isUse": false,
+        "locations": [
+            {
+                "id": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
+                "whid": "3a19deae-2c79-05a3-9c76-8e6760424841",
+                "whName": "手动堆栈",
+                "code": "1",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "quantity": 0
+            }
+        ],
+        "detail": [
+            {
+                "id": "3a1d4c14-a9fc-1daa-71fa-146cb1ccb930",
+                "detailMaterialId": "3a1d4c14-a9fc-4f38-4c48-68486c391c42",
+                "code": "0001-00093 - 05",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 1,
+                "y": 3,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-3659-ea61-cd587da9e131",
+                "detailMaterialId": "3a1d4c14-a9fc-018f-93e5-c49343d37758",
+                "code": "0001-00093 - 08",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 2,
+                "y": 4,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-3f94-de83-979d2646e313",
+                "detailMaterialId": "3a1d4c14-a9fc-9987-c0ef-4b7cbad49e6b",
+                "code": "0001-00093 - 01",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 1,
+                "y": 1,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-8c35-6b25-913b11dbaf4e",
+                "detailMaterialId": "3a1d4c14-a9fc-9a83-865b-0c26ea5e8cc4",
+                "code": "0001-00093 - 03",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 1,
+                "y": 2,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-b41f-e968-64953bfddccd",
+                "detailMaterialId": "3a1d4c14-a9fc-daf7-9d64-e5ec8d3ae0e2",
+                "code": "0001-00093 - 07",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 1,
+                "y": 4,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-c20f-c26e-b1bb2cdc3bca",
+                "detailMaterialId": "3a1d4c14-a9fc-673b-ac83-aaaf71287f1f",
+                "code": "0001-00093 - 06",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 2,
+                "y": 3,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-cf21-059c-fde361d82b6f",
+                "detailMaterialId": "3a1d4c14-a9fc-25b1-e736-6b0d8dac0fae",
+                "code": "0001-00093 - 02",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 2,
+                "y": 1,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            },
+            {
+                "id": "3a1d4c14-a9fc-d732-2b93-9b2bd2bf581b",
+                "detailMaterialId": "3a1d4c14-a9fc-7f5d-b6b6-8bcb2e15f320",
+                "code": "0001-00093 - 04",
+                "name": "配液瓶(小)",
+                "quantity": "1",
+                "lockQuantity": "0",
+                "unit": "个",
+                "x": 2,
+                "y": 2,
+                "z": 1,
+                "associateId": null,
+                "typeName": "配液瓶(小)",
+                "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"
+            }
+        ]
+    }
+]

test/resources/test_bottle_carrier.py

@@ -1,7 +1,7 @@
 import pytest
 
 from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
-from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
+from unilabos.resources.bioyond.bottles import YB_Solid_Vial, YB_Solution_Beaker, YB_Reagent_Bottle
 
 
 def test_bottle_carrier() -> "BottleCarrier":
@@ -16,9 +16,9 @@ def test_bottle_carrier() -> "BottleCarrier":
     print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
 
     # 创建瓶子和烧杯
-    powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
-    solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
-    reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
+    powder_bottle = YB_Solid_Vial("powder_bottle_01")
+    solution_beaker = YB_Solution_Beaker("solution_beaker_01")
+    reagent_bottle = YB_Reagent_Bottle("reagent_bottle_01")
 
     print(f"\n创建的物料:")
     print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")

test/resources/test_converter_bioyond.py

@@ -12,13 +12,13 @@ lab_registry.setup()
 
 
 type_mapping = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+    "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
+    "试剂瓶": ("YB_1BottleCarrier", ""),
+    "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
+    "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
+    "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
+    "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
 }
 
 

test/resources/test_resourcetreeset.py

@@ -1,24 +1,24 @@
+from ast import If
 import pytest
 import json
 import os
 
+from pylabrobot.resources import Resource as ResourcePLR
 from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.registry.registry import lab_registry
 
 from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
+from unilabos.resources.bioyond.decks import YB_Deck
 
 lab_registry.setup()
 
 
 type_mapping = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+    "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"),
+    "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"),
+    "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"),
+    "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"),
 }
 
 
@@ -56,12 +56,20 @@ def bioyond_materials_liquidhandling_2() -> list[dict]:
     "bioyond_materials_reaction",
     "bioyond_materials_liquidhandling_1",
 ])
-def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
-    materials = request.getfixturevalue(materials_fixture)
-    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
+def test_resourcetreeset_from_plr() -> list[dict]:
+    # 直接加载 bioyond_materials_reaction.json 文件
+    current_dir = os.path.dirname(os.path.abspath(__file__))
+    json_path = os.path.join(current_dir, "test.json")
+    with open(json_path, "r", encoding="utf-8") as f:
+        materials = json.load(f)
+    deck = YB_Deck("test_deck")
     output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
-    print(deck.summary())
+    print(output)
+    # print(deck.summary())
 
     r = ResourceTreeSet.from_plr_resources([deck])
     print(r.dump())
     # json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
+
+if __name__ == "__main__":
+    test_resourcetreeset_from_plr()

test/ros/msgs/test_runner.py

@@ -11,10 +11,10 @@ import os
 # 添加项目根目录到路径
 sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
 
-# 导入测试模块（统一从 tests 包获取）
-from tests.ros.msgs.test_basic import TestBasicFunctionality
-from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
-from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
+# 导入测试模块
+from test.ros.msgs.test_basic import TestBasicFunctionality
+from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
+from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
 
 
 def run_tests():

tests/__init__.py

@@ -1,7 +0,0 @@
-"""
-测试包根目录。
-
-让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。
-"""
-
-

tests/devices/__init__.py

@@ -1 +0,0 @@
-

tests/devices/liquid_handling/__init__.py

@@ -1,5 +0,0 @@
-"""
-液体处理设备相关测试。
-"""
-
-

tests/devices/liquid_handling/test_transfer_liquid.py

@@ -1,505 +0,0 @@
-import asyncio
-from dataclasses import dataclass
-from typing import Any, Iterable, List, Optional, Sequence, Tuple
-
-import pytest
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-
-
-@dataclass(frozen=True)
-class DummyContainer:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyContainer({self.name})"
-
-
-@dataclass(frozen=True)
-class DummyTipSpot:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyTipSpot({self.name})"
-
-
-def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
-    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
-    for i in range(n):
-        yield [DummyTipSpot(f"tip_{i}")]
-
-
-class FakeLiquidHandler(LiquidHandlerAbstract):
-    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
-
-    def __init__(self, channel_num: int = 8):
-        # 不调用 super().__init__，避免真实硬件/后端依赖
-        self.channel_num = channel_num
-        self.support_touch_tip = True
-        self.current_tip = iter(make_tip_iter())
-        self.calls: List[Tuple[str, Any]] = []
-
-    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
-        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
-
-    async def aspirate(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "aspirate",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def dispense(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "dispense",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def discard_tips(self, use_channels=None, *args, **kwargs):
-        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
-        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
-
-    async def custom_delay(self, seconds=0, msg=None):
-        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
-
-    async def touch_tip(self, targets):
-        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
-        self.calls.append(("touch_tip", {"targets": targets}))
-
-    async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
-        self.calls.append(
-            (
-                "mix",
-                {
-                    "targets": targets,
-                    "mix_time": mix_time,
-                    "mix_vol": mix_vol,
-                },
-            )
-        )
-
-
-def run(coro):
-    return asyncio.run(coro)
-
-
-def test_one_to_one_single_channel_basic_calls():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    sources = [DummyContainer(f"S{i}") for i in range(3)]
-    targets = [DummyContainer(f"T{i}") for i in range(3)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=targets,
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=[1, 2, 3],
-            dis_vols=[4, 5, 6],
-            mix_times=None,  # 应该仍能执行（不 mix）
-        )
-    )
-
-    assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
-    assert [c[0] for c in lh.calls].count("aspirate") == 3
-    assert [c[0] for c in lh.calls].count("dispense") == 3
-    assert [c[0] for c in lh.calls].count("discard_tips") == 3
-
-    # 每次 aspirate/dispense 都是单孔列表
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    assert aspirates[0]["resources"] == [sources[0]]
-    assert aspirates[0]["vols"] == [1.0]
-
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert dispenses[2]["resources"] == [targets[2]]
-    assert dispenses[2]["vols"] == [6.0]
-
-
-def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(16))
-
-    source = DummyContainer("S0")
-    target = DummyContainer("T0")
-
-    run(
-        lh.transfer_liquid(
-            sources=[source],
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=[5],
-            dis_vols=[5],
-            mix_stage="before",
-            mix_times=1,
-            mix_vol=3,
-        )
-    )
-
-    names = [name for name, _ in lh.calls]
-    assert names.count("mix") == 1
-    assert names.index("mix") < names.index("aspirate")
-
-
-def test_one_to_one_eight_channel_groups_by_8():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(256))
-
-    sources = [DummyContainer(f"S{i}") for i in range(16)]
-    targets = [DummyContainer(f"T{i}") for i in range(16)]
-    asp_vols = list(range(1, 17))
-    dis_vols = list(range(101, 117))
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,
-            mix_times=0,  # 触发逻辑但不 mix
-        )
-    )
-
-    # 16 个任务 -> 2 组，每组 8 通道一起做
-    assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert len(aspirates) == 2
-    assert len(dispenses) == 2
-
-    assert aspirates[0]["resources"] == sources[0:8]
-    assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
-    assert dispenses[1]["resources"] == targets[8:16]
-    assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
-
-
-def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    sources = [DummyContainer(f"S{i}") for i in range(9)]
-    targets = [DummyContainer(f"T{i}") for i in range(9)]
-
-    with pytest.raises(ValueError, match="multiple of 8"):
-        run(
-            lh.transfer_liquid(
-                sources=sources,
-                targets=targets,
-                tip_racks=[],
-                use_channels=list(range(8)),
-                asp_vols=[1] * 9,
-                dis_vols=[1] * 9,
-                mix_times=0,
-            )
-        )
-
-
-def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(512))
-
-    sources = [DummyContainer(f"S{i}") for i in range(16)]
-    targets = [DummyContainer(f"T{i}") for i in range(16)]
-    asp_vols = [i + 1 for i in range(16)]
-    dis_vols = [200 + i for i in range(16)]
-    asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
-    dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
-    offsets = [f"offset_{i}" for i in range(16)]
-    liquid_heights = [i * 0.5 for i in range(16)]
-    blow_out_air_volume = [i + 0.05 for i in range(16)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,
-            asp_flow_rates=asp_flow_rates,
-            dis_flow_rates=dis_flow_rates,
-            offsets=offsets,
-            liquid_height=liquid_heights,
-            blow_out_air_volume=blow_out_air_volume,
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert len(aspirates) == len(dispenses) == 2
-
-    for batch_idx in range(2):
-        start = batch_idx * 8
-        end = start + 8
-        asp_call = aspirates[batch_idx]
-        dis_call = dispenses[batch_idx]
-        assert asp_call["resources"] == sources[start:end]
-        assert asp_call["flow_rates"] == asp_flow_rates[start:end]
-        assert asp_call["offsets"] == offsets[start:end]
-        assert asp_call["liquid_height"] == liquid_heights[start:end]
-        assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-        assert dis_call["flow_rates"] == dis_flow_rates[start:end]
-        assert dis_call["offsets"] == offsets[start:end]
-        assert dis_call["liquid_height"] == liquid_heights[start:end]
-        assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-
-
-def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(1024))
-
-    sources = [DummyContainer(f"S{i}") for i in range(32)]
-    targets = [DummyContainer(f"T{i}") for i in range(32)]
-    asp_vols = [i + 1 for i in range(32)]
-    dis_vols = [300 + i for i in range(32)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,
-            mix_times=0,
-        )
-    )
-
-    pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert len(pick_calls) == 4
-    assert len(aspirates) == len(dispenses) == 4
-    assert aspirates[0]["resources"] == sources[0:8]
-    assert aspirates[-1]["resources"] == sources[24:32]
-    assert dispenses[0]["resources"] == targets[0:8]
-    assert dispenses[-1]["resources"] == targets[24:32]
-
-
-def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    source = DummyContainer("SRC")
-    targets = [DummyContainer(f"T{i}") for i in range(3)]
-    dis_vols = [10, 20, 30]  # sum=60
-
-    run(
-        lh.transfer_liquid(
-            sources=[source],
-            targets=targets,
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
-            dis_vols=dis_vols,
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    assert len(aspirates) == 1
-    assert aspirates[0]["resources"] == [source]
-    assert aspirates[0]["vols"] == [60.0]
-    assert aspirates[0]["use_channels"] == [0]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
-
-
-def test_one_to_many_eight_channel_basic():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    source = DummyContainer("SRC")
-    targets = [DummyContainer(f"T{i}") for i in range(8)]
-    dis_vols = [i + 1 for i in range(8)]
-
-    run(
-        lh.transfer_liquid(
-            sources=[source],
-            targets=targets,
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
-            dis_vols=dis_vols,
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    assert aspirates[0]["resources"] == [source] * 8
-    assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert dispenses[0]["resources"] == targets
-    assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    sources = [DummyContainer(f"S{i}") for i in range(3)]
-    target = DummyContainer("T")
-    asp_vols = [5, 6, 7]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=asp_vols,
-            dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
-            mix_times=0,
-        )
-    )
-
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
-    assert all(d["resources"] == [target] for d in dispenses)
-
-
-def test_many_to_one_single_channel_before_stage_mixes_target_once():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    sources = [DummyContainer("S0"), DummyContainer("S1")]
-    target = DummyContainer("T")
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=[5, 6],
-            dis_vols=1,
-            mix_stage="before",
-            mix_times=2,
-            mix_vol=4,
-        )
-    )
-
-    names = [name for name, _ in lh.calls]
-    assert names[0] == "mix"
-    assert names.count("mix") == 1
-
-
-def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
-    lh = FakeLiquidHandler(channel_num=1)
-    lh.current_tip = iter(make_tip_iter(128))
-
-    sources = [DummyContainer(f"S{i}") for i in range(3)]
-    target = DummyContainer("T")
-    asp_vols = [5, 6, 7]
-    dis_vols = [1, 2, 3]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=[0],
-            asp_vols=asp_vols,
-            dis_vols=dis_vols,  # 比例模式
-            mix_times=0,
-        )
-    )
-
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_eight_channel_basic():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(256))
-
-    sources = [DummyContainer(f"S{i}") for i in range(8)]
-    target = DummyContainer("T")
-    asp_vols = [10 + i for i in range(8)]
-
-    run(
-        lh.transfer_liquid(
-            sources=sources,
-            targets=[target],
-            tip_racks=[],
-            use_channels=list(range(8)),
-            asp_vols=asp_vols,
-            dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
-            mix_times=0,
-        )
-    )
-
-    aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-    dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-    assert aspirates[0]["resources"] == sources
-    assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
-    assert dispenses[0]["resources"] == [target] * 8
-    assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
-
-
-def test_transfer_liquid_mode_detection_unsupported_shape_raises():
-    lh = FakeLiquidHandler(channel_num=8)
-    lh.current_tip = iter(make_tip_iter(64))
-
-    sources = [DummyContainer("S0"), DummyContainer("S1")]
-    targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
-
-    with pytest.raises(ValueError, match="Unsupported transfer mode"):
-        run(
-            lh.transfer_liquid(
-                sources=sources,
-                targets=targets,
-                tip_racks=[],
-                use_channels=[0],
-                asp_vols=[1, 1],
-                dis_vols=[1, 1, 1],
-                mix_times=0,
-            )
-        )
-

tests/ros/test_joint_state_bridge.py

@@ -1,939 +0,0 @@
-"""
-P1 关节数据 & 资源跟随桥接测试 — 全面覆盖 HostNode 关节回调 + resource_pose 回调的边缘 case。
-
-不依赖 ROS2 运行时，通过 mock 模拟 msg 和 bridge。
-
-测试分组:
-  E1: JointRepublisher JSON 输出格式 (已修复 str→json.dumps)
-  E2: 关节状态回调 — 从 /joint_states (JointState msg) 直接读取 name/position
-  E3: 资源跟随 (resource_pose) — 夹爪抓取/释放/多资源
-  E4: 联合流程 — 关节 + 资源一并通过 bridge 发送
-  E5: Bridge 调用验证
-  E6: 同类型设备多实例 — 重复关节名场景
-  E7: 吞吐优化 — 死区过滤、抑频、增量 resource_poses
-"""
-
-import json
-import time
-import pytest
-from unittest.mock import MagicMock
-from types import SimpleNamespace
-from typing import Dict, Optional
-
-
-# ==================== 辅助: 模拟 JointState msg ====================
-
-
-def _make_joint_state_msg(names: list, positions: list, velocities=None, efforts=None):
-    """构造模拟的 sensor_msgs/JointState 消息（不依赖 ROS2）"""
-    msg = SimpleNamespace()
-    msg.name = names
-    msg.position = positions
-    msg.velocity = velocities or [0.0] * len(names)
-    msg.effort = efforts or [0.0] * len(names)
-    return msg
-
-
-def _make_string_msg(data: str):
-    """构造模拟的 std_msgs/String 消息"""
-    msg = SimpleNamespace()
-    msg.data = data
-    return msg
-
-
-# ==================== 辅助: 提取 HostNode 核心逻辑用于隔离测试 ====================
-
-
-class JointBridgeSimulator:
-    """
-    模拟 HostNode 的关节桥接核心逻辑（提取自 host_node.py），
-    不依赖 ROS2 Node、subscription 等基础设施。
-
-    包含吞吐优化逻辑:
-    - 死区过滤 (dead band): 关节变化 < 阈值时不发送
-    - 抑频 (throttle): 限制最大发送频率
-    - 增量 resource_poses: 仅在变化时附带
-    """
-
-    JOINT_DEAD_BAND: float = 1e-4
-    JOINT_MIN_INTERVAL: float = 0.05  # 秒
-
-    def __init__(self, device_uuid_map: Dict[str, str],
-                 dead_band: Optional[float] = None,
-                 min_interval: Optional[float] = None):
-        self.device_uuid_map = device_uuid_map
-        self._device_ids_sorted = sorted(device_uuid_map.keys(), key=len, reverse=True)
-        self._resource_poses: Dict[str, str] = {}
-        self._resource_poses_dirty: bool = False
-        self._last_joint_values: Dict[str, float] = {}
-        self._last_send_time: float = -float("inf")  # 确保首条消息总是通过
-        # 允许测试覆盖优化参数
-        if dead_band is not None:
-            self.JOINT_DEAD_BAND = dead_band
-        if min_interval is not None:
-            self.JOINT_MIN_INTERVAL = min_interval
-
-    def resource_pose_callback(self, msg) -> None:
-        """模拟 HostNode._resource_pose_callback（含变化检测）"""
-        try:
-            data = json.loads(msg.data)
-        except (json.JSONDecodeError, ValueError):
-            return
-        if not isinstance(data, dict) or not data:
-            return
-        has_change = False
-        for k, v in data.items():
-            if self._resource_poses.get(k) != v:
-                has_change = True
-                break
-        if has_change:
-            self._resource_poses.update(data)
-            self._resource_poses_dirty = True
-
-    def joint_state_callback(self, msg, now: Optional[float] = None) -> dict:
-        """
-        模拟 HostNode._joint_state_callback 核心逻辑（含优化）。
-        now 参数允许测试控制时间。
-        返回 {device_id: {"node_uuid": ..., "joint_states": {...}, "resource_poses": {...}}}。
-        返回 {} 表示被优化过滤。
-        """
-        names = list(msg.name)
-        positions = list(msg.position)
-        if not names or len(names) != len(positions):
-            return {}
-
-        if now is None:
-            now = time.time()
-        resource_dirty = self._resource_poses_dirty
-
-        # 抑频检查
-        if not resource_dirty and (now - self._last_send_time) < self.JOINT_MIN_INTERVAL:
-            return {}
-
-        # 死区过滤
-        has_significant_change = False
-        for name, pos in zip(names, positions):
-            last_val = self._last_joint_values.get(name)
-            if last_val is None or abs(float(pos) - last_val) >= self.JOINT_DEAD_BAND:
-                has_significant_change = True
-                break
-
-        if not has_significant_change and not resource_dirty:
-            return {}
-
-        # 更新状态
-        for name, pos in zip(names, positions):
-            self._last_joint_values[name] = float(pos)
-        self._last_send_time = now
-
-        # 按设备 ID 分组关节数据
-        device_joints: Dict[str, Dict[str, float]] = {}
-        for name, pos in zip(names, positions):
-            matched_device = None
-            for device_id in self._device_ids_sorted:
-                if name.startswith(device_id + "_"):
-                    matched_device = device_id
-                    break
-            if matched_device:
-                if matched_device not in device_joints:
-                    device_joints[matched_device] = {}
-                device_joints[matched_device][name] = float(pos)
-            elif len(self.device_uuid_map) == 1:
-                fallback_id = self._device_ids_sorted[0]
-                if fallback_id not in device_joints:
-                    device_joints[fallback_id] = {}
-                device_joints[fallback_id][name] = float(pos)
-
-        # 构建设备级 resource_poses（仅 dirty 时附带）
-        device_resource_poses: Dict[str, Dict[str, str]] = {}
-        if resource_dirty:
-            for resource_id, link_name in self._resource_poses.items():
-                matched_device = None
-                for device_id in self._device_ids_sorted:
-                    if link_name.startswith(device_id + "_"):
-                        matched_device = device_id
-                        break
-                if matched_device:
-                    if matched_device not in device_resource_poses:
-                        device_resource_poses[matched_device] = {}
-                    device_resource_poses[matched_device][resource_id] = link_name
-                elif len(self.device_uuid_map) == 1:
-                    fallback_id = self._device_ids_sorted[0]
-                    if fallback_id not in device_resource_poses:
-                        device_resource_poses[fallback_id] = {}
-                    device_resource_poses[fallback_id][resource_id] = link_name
-            self._resource_poses_dirty = False
-
-        result = {}
-        for device_id, joint_states in device_joints.items():
-            node_uuid = self.device_uuid_map.get(device_id)
-            if not node_uuid:
-                continue
-            result[device_id] = {
-                "node_uuid": node_uuid,
-                "joint_states": joint_states,
-                "resource_poses": device_resource_poses.get(device_id, {}),
-            }
-        return result
-
-
-# 功能测试中禁用优化（dead_band=0, min_interval=0），确保逻辑正确性
-def _make_sim(device_uuid_map: Dict[str, str]) -> JointBridgeSimulator:
-    """创建禁用吞吐优化的模拟器（用于功能正确性测试）"""
-    return JointBridgeSimulator(device_uuid_map, dead_band=0.0, min_interval=0.0)
-
-
-# ==================== E1: JointRepublisher JSON 输出 ====================
-
-
-class TestJointRepublisherFormat:
-    """验证 JointRepublisher 输出标准 JSON（双引号）而非 Python repr（单引号）"""
-
-    def test_output_is_valid_json(self):
-        """str() 产生单引号，json.dumps() 产生双引号"""
-        joint_dict = {
-            "name": ["joint1", "joint2"],
-            "position": [0.1, 0.2],
-            "velocity": [0.0, 0.0],
-            "effort": [0.0, 0.0],
-        }
-        result = json.dumps(joint_dict)
-        parsed = json.loads(result)
-        assert parsed["name"] == ["joint1", "joint2"]
-        assert parsed["position"] == [0.1, 0.2]
-        assert "'" not in result
-
-    def test_str_produces_invalid_json(self):
-        """对比: str() 不是合法 JSON"""
-        joint_dict = {"name": ["joint1"], "position": [0.1]}
-        result = str(joint_dict)
-        with pytest.raises(json.JSONDecodeError):
-            json.loads(result)
-
-
-# ==================== E2: 关节状态回调（JointState msg 直接读取）====================
-
-
-class TestJointStateCallback:
-    """测试从 JointState msg 直接读取 name/position 的分组逻辑"""
-
-    def test_single_device_simple(self):
-        """单设备，关节名有设备前缀"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        msg = _make_joint_state_msg(
-            ["panda_joint1", "panda_joint2"], [0.5, 1.0]
-        )
-        result = sim.joint_state_callback(msg)
-        assert "panda" in result
-        assert result["panda"]["joint_states"]["panda_joint1"] == 0.5
-        assert result["panda"]["joint_states"]["panda_joint2"] == 1.0
-
-    def test_single_device_no_prefix_fallback(self):
-        """单设备，关节名无设备前缀 → 应归入唯一设备"""
-        sim = _make_sim({"robot1": "uuid-r1"})
-        msg = _make_joint_state_msg(["joint_a", "joint_b"], [1.0, 2.0])
-        result = sim.joint_state_callback(msg)
-        assert "robot1" in result
-        assert result["robot1"]["joint_states"]["joint_a"] == 1.0
-        assert result["robot1"]["joint_states"]["joint_b"] == 2.0
-
-    def test_multi_device_distinct_prefixes(self):
-        """多设备，不同前缀，正确分组"""
-        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
-        msg = _make_joint_state_msg(
-            ["arm1_j1", "arm1_j2", "arm2_j1", "arm2_j2"],
-            [0.1, 0.2, 0.3, 0.4],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
-        assert result["arm1"]["joint_states"]["arm1_j2"] == 0.2
-        assert result["arm2"]["joint_states"]["arm2_j1"] == 0.3
-        assert result["arm2"]["joint_states"]["arm2_j2"] == 0.4
-
-    def test_ambiguous_prefix_longest_wins(self):
-        """前缀歧义: arm 和 arm_left — 最长前缀优先"""
-        sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
-        msg = _make_joint_state_msg(
-            ["arm_j1", "arm_left_j1", "arm_left_j2"],
-            [0.1, 0.2, 0.3],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["arm"]["joint_states"]["arm_j1"] == 0.1
-        assert result["arm_left"]["joint_states"]["arm_left_j1"] == 0.2
-        assert result["arm_left"]["joint_states"]["arm_left_j2"] == 0.3
-
-    def test_multi_device_unmatched_joints_dropped(self):
-        """多设备时，无法匹配前缀的关节应被丢弃（不 fallback）"""
-        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
-        msg = _make_joint_state_msg(
-            ["arm1_j1", "unknown_j1"],
-            [0.1, 0.9],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
-        for device_id, data in result.items():
-            assert "unknown_j1" not in data["joint_states"]
-
-    def test_empty_names(self):
-        """空 name 列表"""
-        sim = _make_sim({"dev": "uuid-dev"})
-        msg = _make_joint_state_msg([], [])
-        result = sim.joint_state_callback(msg)
-        assert result == {}
-
-    def test_mismatched_lengths(self):
-        """name 和 position 长度不一致"""
-        sim = _make_sim({"dev": "uuid-dev"})
-        msg = _make_joint_state_msg(["j1", "j2"], [0.1])
-        result = sim.joint_state_callback(msg)
-        assert result == {}
-
-    def test_no_devices(self):
-        """无设备 UUID 映射"""
-        sim = _make_sim({})
-        msg = _make_joint_state_msg(["j1"], [0.1])
-        result = sim.joint_state_callback(msg)
-        assert result == {}
-
-    def test_numeric_prefix_device_ids(self):
-        """数字化设备 ID (如 deck1, deck12) — deck12_slot1 不应匹配 deck1"""
-        sim = _make_sim({"deck1": "uuid-d1", "deck12": "uuid-d12"})
-        msg = _make_joint_state_msg(
-            ["deck1_slot1", "deck12_slot1"],
-            [1.0, 2.0],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["deck1"]["joint_states"]["deck1_slot1"] == 1.0
-        assert result["deck12"]["joint_states"]["deck12_slot1"] == 2.0
-
-    def test_position_float_conversion(self):
-        """position 值应强制转为 float（即使输入为 int）"""
-        sim = _make_sim({"arm": "uuid-arm"})
-        msg = _make_joint_state_msg(["arm_j1"], [1])
-        result = sim.joint_state_callback(msg)
-        assert result["arm"]["joint_states"]["arm_j1"] == 1.0
-        assert isinstance(result["arm"]["joint_states"]["arm_j1"], float)
-
-    def test_node_uuid_in_result(self):
-        """结果中应携带正确的 node_uuid"""
-        sim = _make_sim({"panda": "uuid-panda-123"})
-        msg = _make_joint_state_msg(["panda_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["node_uuid"] == "uuid-panda-123"
-
-    def test_device_with_no_uuid_skipped(self):
-        """device_uuid_map 中存在映射但值为空 → 跳过"""
-        sim = _make_sim({"arm": ""})
-        msg = _make_joint_state_msg(["arm_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-        assert result == {}
-
-    def test_many_joints_single_device(self):
-        """单设备大量关节（如 7-DOF arm）"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        names = [f"panda_joint{i}" for i in range(1, 8)]
-        positions = [float(i) * 0.1 for i in range(1, 8)]
-        msg = _make_joint_state_msg(names, positions)
-        result = sim.joint_state_callback(msg)
-        assert len(result["panda"]["joint_states"]) == 7
-        assert result["panda"]["joint_states"]["panda_joint7"] == pytest.approx(0.7)
-
-    def test_duplicate_joint_names_last_wins(self):
-        """同类型设备多个实例时，如果关节名完全重复（bug 场景），后出现的值覆盖前者"""
-        sim = _make_sim({"dev": "uuid-dev"})
-        msg = _make_joint_state_msg(["dev_j1", "dev_j1"], [1.0, 2.0])
-        result = sim.joint_state_callback(msg)
-        assert result["dev"]["joint_states"]["dev_j1"] == 2.0
-
-    def test_negative_positions(self):
-        """关节角度为负数"""
-        sim = _make_sim({"arm": "uuid-arm"})
-        msg = _make_joint_state_msg(["arm_j1", "arm_j2"], [-1.57, -3.14])
-        result = sim.joint_state_callback(msg)
-        assert result["arm"]["joint_states"]["arm_j1"] == pytest.approx(-1.57)
-        assert result["arm"]["joint_states"]["arm_j2"] == pytest.approx(-3.14)
-
-
-# ==================== E3: 资源跟随 (resource_pose) ====================
-
-
-class TestResourcePoseCallback:
-    """测试 resource_pose 回调 — 夹爪抓取/释放/多资源"""
-
-    def test_single_resource_attach(self):
-        """单个资源挂载到夹爪 link"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        msg = _make_string_msg(json.dumps({"plate_1": "panda_gripper_link"}))
-        sim.resource_pose_callback(msg)
-        assert sim._resource_poses == {"plate_1": "panda_gripper_link"}
-        assert sim._resource_poses_dirty is True
-
-    def test_multiple_resource_attach(self):
-        """多个资源同时挂载到不同 link"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        msg = _make_string_msg(json.dumps({
-            "plate_1": "panda_gripper_link",
-            "tip_rack": "panda_deck_link",
-        }))
-        sim.resource_pose_callback(msg)
-        assert sim._resource_poses["plate_1"] == "panda_gripper_link"
-        assert sim._resource_poses["tip_rack"] == "panda_deck_link"
-
-    def test_incremental_update(self):
-        """增量更新：新消息合并到已有状态"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_2": "panda_gripper_link"})))
-        assert len(sim._resource_poses) == 2
-        assert sim._resource_poses["plate_1"] == "panda_deck_link"
-        assert sim._resource_poses["plate_2"] == "panda_gripper_link"
-
-    def test_resource_reattach(self):
-        """资源从 deck 移动到 gripper（抓取操作）"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
-        assert sim._resource_poses["plate_1"] == "panda_deck_link"
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
-        assert sim._resource_poses["plate_1"] == "panda_gripper_link"
-
-    def test_resource_release_back_to_world(self):
-        """释放资源回到 world"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "world"})))
-        assert sim._resource_poses["plate_1"] == "world"
-
-    def test_empty_dict_heartbeat_no_dirty(self):
-        """空 dict（心跳包）不标记 dirty"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
-        sim._resource_poses_dirty = False  # 重置
-        sim.resource_pose_callback(_make_string_msg(json.dumps({})))
-        assert sim._resource_poses_dirty is False  # 空 dict 不应标记 dirty
-
-    def test_same_value_no_dirty(self):
-        """重复发送相同值不应标记 dirty"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
-        sim._resource_poses_dirty = False
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
-        assert sim._resource_poses_dirty is False
-
-    def test_invalid_json_ignored(self):
-        """非法 JSON 消息不影响状态"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
-        sim.resource_pose_callback(_make_string_msg("not valid json {{{"))
-        assert sim._resource_poses["plate_1"] == "panda_link"
-
-    def test_non_dict_json_ignored(self):
-        """JSON 但不是 dict（如 list）应被忽略"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps(["not", "a", "dict"])))
-        assert sim._resource_poses == {}
-
-    def test_python_repr_ignored(self):
-        """Python repr 格式（单引号）应被忽略"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg("{'plate_1': 'panda_link'}"))
-        assert sim._resource_poses == {}
-
-    def test_multi_device_resource_attach(self):
-        """多设备场景：不同设备的 link 挂载不同资源"""
-        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_A": "arm1_gripper_link",
-            "plate_B": "arm2_gripper_link",
-        })))
-        assert sim._resource_poses["plate_A"] == "arm1_gripper_link"
-        assert sim._resource_poses["plate_B"] == "arm2_gripper_link"
-
-
-# ==================== E4: 联合流程 — 关节 + 资源一并通过 bridge ====================
-
-
-class TestJointWithResourcePoses:
-    """测试关节状态回调时，resource_poses 被正确按设备分组并包含在结果中"""
-
-    def test_single_device_joint_with_resource(self):
-        """单设备：关节更新时携带已挂载的资源"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_1": "panda_gripper_link",
-        })))
-        msg = _make_joint_state_msg(["panda_j1", "panda_j2"], [0.5, 1.0])
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["resource_poses"] == {"plate_1": "panda_gripper_link"}
-
-    def test_single_device_no_resource(self):
-        """单设备：无资源挂载时 resource_poses 为空 dict"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        msg = _make_joint_state_msg(["panda_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["resource_poses"] == {}
-
-    def test_multi_device_resource_routing(self):
-        """多设备：资源按 link 前缀路由到正确设备"""
-        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_A": "arm1_gripper_link",
-            "plate_B": "arm2_gripper_link",
-            "tube_1": "arm1_tool_link",
-        })))
-        msg = _make_joint_state_msg(
-            ["arm1_j1", "arm2_j1"],
-            [0.1, 0.2],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["arm1"]["resource_poses"] == {
-            "plate_A": "arm1_gripper_link",
-            "tube_1": "arm1_tool_link",
-        }
-        assert result["arm2"]["resource_poses"] == {"plate_B": "arm2_gripper_link"}
-
-    def test_resource_on_world_frame_not_routed(self):
-        """资源挂在 world frame（已释放）— 多设备时无法匹配任何设备前缀"""
-        sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_A": "world",
-        })))
-        msg = _make_joint_state_msg(["arm1_j1"], [0.1])
-        result = sim.joint_state_callback(msg)
-        assert result["arm1"]["resource_poses"] == {}
-
-    def test_resource_world_frame_single_device_fallback(self):
-        """单设备时 world frame 的资源走 fallback"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_A": "world",
-        })))
-        msg = _make_joint_state_msg(["panda_j1"], [0.1])
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["resource_poses"] == {"plate_A": "world"}
-
-    def test_grab_and_move_sequence(self):
-        """完整夹取序列: 资源在 deck → gripper 抓取 → arm 移动 → 放下"""
-        sim = _make_sim({"panda": "uuid-panda"})
-
-        # 初始: plate 在 deck
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_1": "panda_deck_third_link",
-        })))
-
-        msg = _make_joint_state_msg(
-            ["panda_j1", "panda_j2", "panda_j3"],
-            [0.0, -0.5, 1.0],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_third_link"
-
-        # 抓取: plate 从 deck → gripper
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_1": "panda_gripper_link",
-        })))
-
-        msg = _make_joint_state_msg(
-            ["panda_j1", "panda_j2", "panda_j3"],
-            [1.57, 0.0, -0.5],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["resource_poses"]["plate_1"] == "panda_gripper_link"
-        assert result["panda"]["joint_states"]["panda_j1"] == pytest.approx(1.57)
-
-        # 放下: plate 从 gripper → 目标 deck
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_1": "panda_deck_first_link",
-        })))
-
-        msg = _make_joint_state_msg(
-            ["panda_j1", "panda_j2", "panda_j3"],
-            [0.0, 0.0, 0.0],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_first_link"
-
-    def test_simultaneous_grab_multiple_resources(self):
-        """同时持有多个资源（如双夹爪）"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_1": "panda_left_gripper",
-            "plate_2": "panda_right_gripper",
-            "tip_rack": "panda_deck_link",
-        })))
-        msg = _make_joint_state_msg(["panda_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-        assert len(result["panda"]["resource_poses"]) == 3
-
-    def test_resource_with_ambiguous_link_prefix(self):
-        """link 前缀歧义: arm_left_gripper 应匹配 arm_left 而非 arm"""
-        sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_A": "arm_gripper_link",
-            "plate_B": "arm_left_gripper_link",
-        })))
-        msg = _make_joint_state_msg(
-            ["arm_j1", "arm_left_j1"],
-            [0.1, 0.2],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["arm"]["resource_poses"] == {"plate_A": "arm_gripper_link"}
-        assert result["arm_left"]["resource_poses"] == {"plate_B": "arm_left_gripper_link"}
-
-
-# ==================== E5: Bridge 调用验证 ====================
-
-
-class TestBridgeCalls:
-    """验证完整桥接流: callback → bridge.publish_joint_state 调用"""
-
-    def test_bridge_called_per_device(self):
-        """每个设备调用一次 publish_joint_state"""
-        device_uuid_map = {"arm1": "uuid-111", "arm2": "uuid-222"}
-        sim = _make_sim(device_uuid_map)
-        bridge = MagicMock()
-        bridge.publish_joint_state = MagicMock()
-
-        msg = _make_joint_state_msg(
-            ["arm1_j1", "arm2_j1"],
-            [1.0, 2.0],
-        )
-        result = sim.joint_state_callback(msg)
-
-        for device_id, data in result.items():
-            bridge.publish_joint_state(
-                data["node_uuid"], data["joint_states"], data["resource_poses"]
-            )
-
-        assert bridge.publish_joint_state.call_count == 2
-        call_uuids = {c[0][0] for c in bridge.publish_joint_state.call_args_list}
-        assert call_uuids == {"uuid-111", "uuid-222"}
-
-    def test_bridge_called_with_resource_poses(self):
-        """bridge 调用时携带 resource_poses"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_1": "panda_gripper_link",
-        })))
-
-        bridge = MagicMock()
-        msg = _make_joint_state_msg(["panda_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-
-        for device_id, data in result.items():
-            bridge.publish_joint_state(
-                data["node_uuid"], data["joint_states"], data["resource_poses"]
-            )
-
-        bridge.publish_joint_state.assert_called_once_with(
-            "uuid-panda",
-            {"panda_j1": 0.5},
-            {"plate_1": "panda_gripper_link"},
-        )
-
-    def test_bridge_no_call_for_empty_joints(self):
-        """无关节数据时不调用 bridge"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        bridge = MagicMock()
-
-        msg = _make_joint_state_msg([], [])
-        result = sim.joint_state_callback(msg)
-
-        for device_id, data in result.items():
-            bridge.publish_joint_state(
-                data["node_uuid"], data["joint_states"], data["resource_poses"]
-            )
-
-        bridge.publish_joint_state.assert_not_called()
-
-    def test_bridge_resource_poses_empty_when_no_resources(self):
-        """无资源挂载时，resource_poses 参数为空 dict"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        bridge = MagicMock()
-
-        msg = _make_joint_state_msg(["panda_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-
-        for device_id, data in result.items():
-            bridge.publish_joint_state(
-                data["node_uuid"], data["joint_states"], data["resource_poses"]
-            )
-
-        bridge.publish_joint_state.assert_called_once_with(
-            "uuid-panda",
-            {"panda_j1": 0.5},
-            {},
-        )
-
-    def test_multi_bridge_all_called(self):
-        """多个 bridge 都应被调用"""
-        sim = _make_sim({"arm": "uuid-arm"})
-        bridges = [MagicMock(), MagicMock()]
-
-        msg = _make_joint_state_msg(["arm_j1"], [0.5])
-        result = sim.joint_state_callback(msg)
-
-        for device_id, data in result.items():
-            for bridge in bridges:
-                bridge.publish_joint_state(
-                    data["node_uuid"], data["joint_states"], data["resource_poses"]
-                )
-
-        for bridge in bridges:
-            bridge.publish_joint_state.assert_called_once()
-
-
-# ==================== E6: 同类型设备多个实例 — 重复关节名场景 ====================
-
-
-class TestDuplicateDeviceTypes:
-    """
-    多个同类型设备（如 2 个 OT-2 移液器），关节名格式为 {device_id}_{joint_name}。
-    设备 ID 不同（如 ot2_left, ot2_right），但底层关节名相同（如 pipette_j1）。
-    """
-
-    def test_same_type_different_id(self):
-        """同类型设备不同 ID"""
-        sim = _make_sim({
-            "ot2_left": "uuid-ot2-left",
-            "ot2_right": "uuid-ot2-right",
-        })
-        msg = _make_joint_state_msg(
-            ["ot2_left_pipette_j1", "ot2_left_pipette_j2",
-             "ot2_right_pipette_j1", "ot2_right_pipette_j2"],
-            [0.1, 0.2, 0.3, 0.4],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j1"] == 0.1
-        assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j2"] == 0.2
-        assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j1"] == 0.3
-        assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j2"] == 0.4
-
-    def test_same_type_with_resources_routed_correctly(self):
-        """同类型设备各自抓取资源，按 link 前缀正确路由"""
-        sim = _make_sim({
-            "ot2_left": "uuid-ot2-left",
-            "ot2_right": "uuid-ot2-right",
-        })
-        sim.resource_pose_callback(_make_string_msg(json.dumps({
-            "plate_A": "ot2_left_gripper",
-            "plate_B": "ot2_right_gripper",
-        })))
-        msg = _make_joint_state_msg(
-            ["ot2_left_j1", "ot2_right_j1"],
-            [0.5, 0.6],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["ot2_left"]["resource_poses"] == {"plate_A": "ot2_left_gripper"}
-        assert result["ot2_right"]["resource_poses"] == {"plate_B": "ot2_right_gripper"}
-
-    def test_numbered_devices_no_confusion(self):
-        """编号设备: robot1 不应匹配 robot10 的关节"""
-        sim = _make_sim({
-            "robot1": "uuid-r1",
-            "robot10": "uuid-r10",
-        })
-        msg = _make_joint_state_msg(
-            ["robot1_j1", "robot10_j1"],
-            [1.0, 10.0],
-        )
-        result = sim.joint_state_callback(msg)
-        assert result["robot1"]["joint_states"]["robot1_j1"] == 1.0
-        assert result["robot10"]["joint_states"]["robot10_j1"] == 10.0
-
-    def test_three_same_type_devices(self):
-        """三个同类型设备"""
-        sim = _make_sim({
-            "pump_a": "uuid-pa",
-            "pump_b": "uuid-pb",
-            "pump_c": "uuid-pc",
-        })
-        msg = _make_joint_state_msg(
-            ["pump_a_flow", "pump_b_flow", "pump_c_flow",
-             "pump_a_pressure", "pump_b_pressure"],
-            [1.0, 2.0, 3.0, 0.1, 0.2],
-        )
-        result = sim.joint_state_callback(msg)
-        assert len(result["pump_a"]["joint_states"]) == 2
-        assert len(result["pump_b"]["joint_states"]) == 2
-        assert len(result["pump_c"]["joint_states"]) == 1
-
-
-# ==================== E7: 吞吐优化测试 ====================
-
-
-class TestThroughputOptimizations:
-    """测试死区过滤、抑频、增量 resource_poses 等优化行为"""
-
-    # --- 死区过滤 (Dead Band) ---
-
-    def test_dead_band_filters_tiny_change(self):
-        """关节变化小于死区阈值 → 被过滤"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        result1 = sim.joint_state_callback(msg1, now=0.0)
-        assert "arm" in result1
-
-        # 微小变化 (0.001 < 0.01 死区)
-        msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
-        result2 = sim.joint_state_callback(msg2, now=1.0)
-        assert result2 == {}
-
-    def test_dead_band_passes_significant_change(self):
-        """关节变化大于死区阈值 → 通过"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        sim.joint_state_callback(msg1, now=0.0)
-
-        msg2 = _make_joint_state_msg(["arm_j1"], [1.05])
-        result2 = sim.joint_state_callback(msg2, now=1.0)
-        assert "arm" in result2
-        assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.05)
-
-    def test_dead_band_first_message_always_passes(self):
-        """首次消息总是通过（无历史值）"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=1000.0, min_interval=0.0)
-        msg = _make_joint_state_msg(["arm_j1"], [0.001])
-        result = sim.joint_state_callback(msg, now=0.0)
-        assert "arm" in result
-
-    def test_dead_band_any_joint_change_triggers(self):
-        """多关节中只要有一个超过死区就全部发送"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
-        msg1 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.0, 2.0])
-        sim.joint_state_callback(msg1, now=0.0)
-
-        # j1 微变化，j2 大变化
-        msg2 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.001, 2.5])
-        result2 = sim.joint_state_callback(msg2, now=1.0)
-        assert "arm" in result2
-        # 两个关节的值都应包含在结果中
-        assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.001)
-        assert result2["arm"]["joint_states"]["arm_j2"] == pytest.approx(2.5)
-
-    # --- 抑频 (Throttle) ---
-
-    def test_throttle_filters_rapid_messages(self):
-        """发送间隔内的消息被过滤"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        result1 = sim.joint_state_callback(msg1, now=0.0)
-        assert "arm" in result1
-
-        # 0.05s < 0.1s 间隔
-        msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
-        result2 = sim.joint_state_callback(msg2, now=0.05)
-        assert result2 == {}
-
-    def test_throttle_passes_after_interval(self):
-        """超过发送间隔后消息通过"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        sim.joint_state_callback(msg1, now=0.0)
-
-        msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
-        result2 = sim.joint_state_callback(msg2, now=0.15)
-        assert "arm" in result2
-
-    def test_throttle_bypassed_by_resource_change(self):
-        """resource_pose 变化时忽略抑频限制"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=1.0)
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        sim.joint_state_callback(msg1, now=0.0)
-
-        # 资源变化 → 强制发送
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
-        msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
-        result2 = sim.joint_state_callback(msg2, now=0.01)  # 远小于 1.0 间隔
-        assert "arm" in result2
-        assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
-
-    # --- 增量 resource_poses ---
-
-    def test_resource_poses_only_sent_when_dirty(self):
-        """resource_poses 仅在 dirty 时附带，否则为空"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
-
-        # 第一次发送：dirty → 携带 resource_poses
-        msg1 = _make_joint_state_msg(["panda_j1"], [0.5])
-        result1 = sim.joint_state_callback(msg1)
-        assert result1["panda"]["resource_poses"] == {"plate": "panda_gripper"}
-
-        # dirty 已清除
-        assert sim._resource_poses_dirty is False
-
-        # 第二次发送：not dirty → resource_poses 为空
-        msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
-        result2 = sim.joint_state_callback(msg2)
-        assert result2["panda"]["resource_poses"] == {}
-
-    def test_resource_change_resets_dirty_after_send(self):
-        """dirty 在发送后被重置，再次 resource_pose 变化后重新标记"""
-        sim = _make_sim({"panda": "uuid-panda"})
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_deck"})))
-
-        msg = _make_joint_state_msg(["panda_j1"], [0.5])
-        sim.joint_state_callback(msg)
-        assert sim._resource_poses_dirty is False
-
-        # 再次资源变化
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
-        assert sim._resource_poses_dirty is True
-
-        msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
-        result2 = sim.joint_state_callback(msg2)
-        assert result2["panda"]["resource_poses"] == {"plate": "panda_gripper"}
-
-    # --- 组合场景 ---
-
-    def test_dead_band_bypassed_by_resource_dirty(self):
-        """关节无变化但 resource_pose 有变化 → 仍然发送"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        sim.joint_state_callback(msg1, now=0.0)
-
-        sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
-        # 关节值完全不变
-        msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
-        result2 = sim.joint_state_callback(msg2, now=1.0)
-        assert "arm" in result2
-        assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
-
-    def test_high_frequency_stream_only_significant_pass(self):
-        """模拟高频流: 只有显著变化的消息通过"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
-        t = 0.0
-        passed_count = 0
-
-        # 100 条消息，每条微小递增 0.001
-        for i in range(100):
-            t += 0.1
-            val = 1.0 + i * 0.001
-            msg = _make_joint_state_msg(["arm_j1"], [val])
-            result = sim.joint_state_callback(msg, now=t)
-            if result:
-                passed_count += 1
-
-        # 首次总通过 + 每 10 条左右（累计 0.01 变化）通过一次
-        assert passed_count < 20  # 远少于 100
-        assert passed_count >= 5  # 但不应为 0
-
-    def test_throttle_and_dead_band_combined(self):
-        """同时受抑频和死区影响"""
-        sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.5)
-
-        # 首条通过
-        msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
-        assert sim.joint_state_callback(msg1, now=0.0) != {}
-
-        # 时间不够 + 变化不够 → 过滤
-        msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
-        assert sim.joint_state_callback(msg2, now=0.1) == {}
-
-        # 时间够但变化不够 → 过滤
-        msg3 = _make_joint_state_msg(["arm_j1"], [1.002])
-        assert sim.joint_state_callback(msg3, now=1.0) == {}
-
-        # 时间够且变化够 → 通过
-        msg4 = _make_joint_state_msg(["arm_j1"], [1.05])
-        assert sim.joint_state_callback(msg4, now=1.5) != {}

tests/workflow/test.json

@@ -1,213 +0,0 @@
-{
-  "workflow": [
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines",
-        "targets": "Liquid_1",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines",
-        "targets": "Liquid_2",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines",
-        "targets": "Liquid_3",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_2",
-        "targets": "Liquid_4",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_2",
-        "targets": "Liquid_5",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_2",
-        "targets": "Liquid_6",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_3",
-        "targets": "dest_set",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_3",
-        "targets": "dest_set_2",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "cell_lines_3",
-        "targets": "dest_set_3",
-        "asp_vol": 100.0,
-        "dis_vol": 74.75,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 95.5
-      }
-    }
-  ],
-  "reagent": {
-    "Liquid_1": {
-      "slot": 1,
-      "well": [
-        "A4",
-        "A7",
-        "A10"
-      ],
-      "labware": "rep 1"
-    },
-    "Liquid_4": {
-      "slot": 1,
-      "well": [
-        "A4",
-        "A7",
-        "A10"
-      ],
-      "labware": "rep 1"
-    },
-    "dest_set": {
-      "slot": 1,
-      "well": [
-        "A4",
-        "A7",
-        "A10"
-      ],
-      "labware": "rep 1"
-    },
-    "Liquid_2": {
-      "slot": 2,
-      "well": [
-        "A3",
-        "A5",
-        "A8"
-      ],
-      "labware": "rep 2"
-    },
-    "Liquid_5": {
-      "slot": 2,
-      "well": [
-        "A3",
-        "A5",
-        "A8"
-      ],
-      "labware": "rep 2"
-    },
-    "dest_set_2": {
-      "slot": 2,
-      "well": [
-        "A3",
-        "A5",
-        "A8"
-      ],
-      "labware": "rep 2"
-    },
-    "Liquid_3": {
-      "slot": 3,
-      "well": [
-        "A4",
-        "A6",
-        "A10"
-      ],
-      "labware": "rep 3"
-    },
-    "Liquid_6": {
-      "slot": 3,
-      "well": [
-        "A4",
-        "A6",
-        "A10"
-      ],
-      "labware": "rep 3"
-    },
-    "dest_set_3": {
-      "slot": 3,
-      "well": [
-        "A4",
-        "A6",
-        "A10"
-      ],
-      "labware": "rep 3"
-    },
-    "cell_lines": {
-      "slot": 4,
-      "well": [
-        "A1",
-        "A3",
-        "A5"
-      ],
-      "labware": "DRUG + YOYO-MEDIA"
-    },
-    "cell_lines_2": {
-      "slot": 4,
-      "well": [
-        "A1",
-        "A3",
-        "A5"
-      ],
-      "labware": "DRUG + YOYO-MEDIA"
-    },
-    "cell_lines_3": {
-      "slot": 4,
-      "well": [
-        "A1",
-        "A3",
-        "A5"
-      ],
-      "labware": "DRUG + YOYO-MEDIA"
-    }
-  }
-}

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.10.12"

unilabos/__main__.py

@@ -1,6 +0,0 @@
-"""Entry point for `python -m unilabos`."""
-
-from unilabos.app.main import main
-
-if __name__ == "__main__":
-    main()

unilabos/app/backend.py

@@ -1,6 +1,6 @@
 import threading
 
-from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger
 
 

unilabos/app/communication.py

@@ -50,17 +50,6 @@ class BaseCommunicationClient(ABC):
         """
         pass
 
-    def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
-        """
-        发布高频关节状态数据（push_joint_state action，不写 DB）
-
-        Args:
-            node_uuid: 设备节点的云端 UUID
-            joint_states: 关节名 → 角度/位置 的映射
-            resource_poses: 物料附着映射（可选）
-        """
-        pass
-
     @abstractmethod
     def publish_job_status(
         self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None

unilabos/app/main.py

@@ -1,14 +1,13 @@
 import argparse
 import asyncio
 import os
-import platform
 import shutil
 import signal
-import subprocess
 import sys
 import threading
 import time
 from typing import Dict, Any, List
+
 import networkx as nx
 import yaml
 
@@ -18,92 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 
-# Global restart flags (used by ws_client and web/server)
-_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:
@@ -145,13 +61,6 @@ 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,
@@ -241,52 +150,11 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
-    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",
-        help="Disable sending update feedback to server",
-    )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
-    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)",
+        help="Complete registry information",
     )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
@@ -321,12 +189,6 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
-    )
     return parser
 
 
@@ -338,102 +200,61 @@ 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, check_device_package_requirements
+    if not args_dict.get("skip_env_check", False):
+        from unilabos.utils.environment_check import check_environment
 
         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")
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-
-    # === 解析 working_dir ===
-    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
-    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
-    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
-    raw_working_dir = args_dict.get("working_dir")
-    if raw_working_dir:
-        working_dir = os.path.abspath(raw_working_dir)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(os.path.abspath(config_path))
-    else:
+    if os.getcwd().endswith("unilabos_data"):
         working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
 
-    # unilabos_data 子目录自动检测
-    if os.path.basename(working_dir) != "unilabos_data":
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
-        if os.path.isdir(unilabos_data_sub):
-            working_dir = unilabos_data_sub
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
-            # 未显式指定路径，默认使用 cwd/unilabos_data
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
-    # === 解析 config_path ===
-    if config_path and not os.path.exists(config_path):
-        # config_path 传入但不存在，尝试在 working_dir 中查找
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
-        else:
-            print_status(
-                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
-                f"请通过 --config 传入 local_config.py 文件路径",
-                "error",
-            )
-            os._exit(1)
-    elif not config_path:
-        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"发现本地配置文件: {config_path}", "info")
-        else:
-            print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-            if check_mode or input() != "n":
-                os.makedirs(working_dir, exist_ok=True)
-                config_path = os.path.join(working_dir, "local_config.py")
-                shutil.copy(
-                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
-                    config_path,
+    if args_dict.get("working_dir"):
+        working_dir = args_dict.get("working_dir", "")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
                 )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                 os._exit(1)
-
-    # 加载配置文件 (check_mode 跳过)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if input() != "n":
+            os.makedirs(working_dir, exist_ok=True)
+            config_path = os.path.join(working_dir, "local_config.py")
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
+            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        else:
+            os._exit(1)
+    # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
-    if not check_mode:
-        load_config_from_file(config_path)
+    load_config_from_file(config_path)
 
     # 根据配置重新设置日志级别
     from unilabos.utils.log import configure_logger, logger
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -476,67 +297,41 @@ def main():
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
-    BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
-    BasicConfig.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 = platform.node()
+    machine_name = os.popen("hostname").read().strip()
     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.registry.registry import build_registry
-
-    # 显示启动横幅
-    print_unilab_banner(args_dict)
-
-    # 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
-    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: 注册表验证完成后直接退出
-    if check_mode:
-        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.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.resource_tracker import ResourceTreeSet, ResourceDict
+    from unilabos.resources.graphio import modify_to_backend_format
+    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
+
+    # 显示启动横幅
+    print_unilab_banner(args_dict)
+
+    # 注册表
+    lab_registry = build_registry(
+        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
+    )
 
-    # 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:
@@ -593,10 +388,6 @@ def main():
     for ind, i in enumerate(resource_edge_info[::-1]):
         source_node: ResourceDict = nodes[i["source"]]
         target_node: ResourceDict = nodes[i["target"]]
-        if "sourceHandle" not in source_node:
-            continue
-        if "targetHandle" not in target_node:
-            continue
         source_handle = i["sourceHandle"]
         target_handle = i["targetHandle"]
         source_handler_keys = [
@@ -621,16 +412,12 @@ 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 file_path is not None and request_startup_json and "nodes" in request_startup_json:
+    if 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"])
+        remote_tree_set = ResourceTreeSet.from_raw_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
@@ -706,26 +493,16 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            restart_requested = start_server(
+            start_server(
                 open_browser=not args_dict["disable_browser"],
                 port=BasicConfig.port,
             )
-            if restart_requested:
-                print_status("[Main] Restart requested, cleaning up...", "info")
-                cleanup_for_restart()
-                return
     else:
         start_backend(**args_dict)
-
-        # 启动服务器（默认支持WebSocket触发重启）
-        restart_requested = start_server(
+        start_server(
             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/model.py

@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
     action_type: str = Field(
         examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
     )
-    sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
     action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
     task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
     job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")

unilabos/app/register.py

@@ -1,8 +1,9 @@
+import json
 import time
-from typing import Any, Dict, Optional, Tuple
+from typing import Optional, Tuple, Dict, Any
 
 from unilabos.utils.log import logger
-from unilabos.utils.tools import normalize_json as _normalize_device
+from unilabos.utils.type_check import TypeEncoder
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -10,63 +11,50 @@ 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"]] = _normalize_device(device_info)
-        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
+        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']}")
 
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
         resources_to_register[resource_info["id"]] = resource_info
-        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.debug(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())},
-                tag="device_registry",
-            )
+            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
             cost_time = time.time() - start_time
-            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")
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
         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())},
-                tag="resource_registry",
-            )
+            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
             cost_time = time.time() - start_time
-            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")
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
         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/utils.py

@@ -1,176 +0,0 @@
-"""
-UniLabOS 应用工具函数
-
-提供清理、重启等工具函数
-"""
-
-import glob
-import os
-import shutil
-import sys
-
-
-def patch_rclpy_dll_windows():
-    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
-    if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
-        return
-    try:
-        import rclpy
-
-        return
-    except ImportError as e:
-        if not str(e).startswith("DLL load failed"):
-            return
-    cp = os.environ["CONDA_PREFIX"]
-    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
-    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
-    if not os.path.exists(impl) or not pyd:
-        return
-    with open(impl, "r", encoding="utf-8") as f:
-        content = f.read()
-    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
-    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
-    shutil.copy2(impl, impl + ".bak")
-    with open(impl, "w", encoding="utf-8") as f:
-        f.write(patch + content)
-
-
-patch_rclpy_dll_windows()
-
-import gc
-import threading
-import time
-
-from unilabos.utils.banner_print import print_status
-
-
-def cleanup_for_restart() -> bool:
-    """
-    Clean up all resources for restart without exiting the process.
-
-    This function prepares the system for re-initialization by:
-    1. Stopping all communication clients
-    2. Destroying ROS nodes
-    3. Resetting singletons
-    4. Waiting for threads to finish
-
-    Returns:
-        bool: True if cleanup was successful, False otherwise
-    """
-    print_status("[Restart] Starting cleanup for restart...", "info")
-
-    # Step 1: Stop WebSocket communication client
-    print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
-    try:
-        from unilabos.app.communication import get_communication_client
-
-        comm_client = get_communication_client()
-        if comm_client is not None:
-            comm_client.stop()
-            print_status("[Restart] WebSocket client stopped", "info")
-    except Exception as e:
-        print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
-
-    # Step 2: Get HostNode and cleanup ROS
-    print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
-    try:
-        from unilabos.ros.nodes.presets.host_node import HostNode
-        import rclpy
-        from rclpy.timer import Timer
-
-        host_instance = HostNode.get_instance(timeout=5)
-        if host_instance is not None:
-            print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
-
-            # Gracefully shutdown background threads
-            print_status("[Restart] Shutting down background threads...", "info")
-            HostNode.shutdown_background_threads(timeout=5.0)
-            print_status("[Restart] Background threads shutdown complete", "info")
-
-            # Stop discovery timer
-            if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
-                host_instance._discovery_timer.cancel()
-                print_status("[Restart] Discovery timer cancelled", "info")
-
-            # Destroy device nodes
-            device_count = len(host_instance.devices_instances)
-            print_status(f"[Restart] Destroying {device_count} device instances...", "info")
-            for device_id, device_node in list(host_instance.devices_instances.items()):
-                try:
-                    if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
-                        device_node.ros_node_instance.destroy_node()
-                        print_status(f"[Restart] Device {device_id} destroyed", "info")
-                except Exception as e:
-                    print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
-
-            # Clear devices instances
-            host_instance.devices_instances.clear()
-            host_instance.devices_names.clear()
-
-            # Destroy host node
-            try:
-                host_instance.destroy_node()
-                print_status("[Restart] HostNode destroyed", "info")
-            except Exception as e:
-                print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
-
-            # Reset HostNode state
-            HostNode.reset_state()
-            print_status("[Restart] HostNode state reset", "info")
-
-        # Shutdown executor first (to stop executor.spin() gracefully)
-        if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
-            try:
-                rclpy.__executor.shutdown()
-                rclpy.__executor = None  # Clear for restart
-                print_status("[Restart] ROS executor shutdown complete", "info")
-            except Exception as e:
-                print_status(f"[Restart] Error shutting down executor: {e}", "warning")
-
-        # Shutdown rclpy
-        if rclpy.ok():
-            rclpy.shutdown()
-            print_status("[Restart] rclpy shutdown complete", "info")
-
-    except ImportError as e:
-        print_status(f"[Restart] ROS modules not available: {e}", "warning")
-    except Exception as e:
-        print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
-        return False
-
-    # Step 3: Reset communication client singleton
-    print_status("[Restart] Step 3: Resetting singletons...", "info")
-    try:
-        from unilabos.app import communication
-
-        if hasattr(communication, "_communication_client"):
-            communication._communication_client = None
-            print_status("[Restart] Communication client singleton reset", "info")
-    except Exception as e:
-        print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
-
-    # Step 4: Wait for threads to finish
-    print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
-    time.sleep(3)  # Give threads time to finish
-
-    # Check remaining threads
-    remaining_threads = []
-    for t in threading.enumerate():
-        if t.name != "MainThread" and t.is_alive():
-            remaining_threads.append(t.name)
-
-    if remaining_threads:
-        print_status(
-            f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
-        )
-    else:
-        print_status("[Restart] All threads stopped", "info")
-
-    # Step 5: Force garbage collection
-    print_status("[Restart] Step 5: Running garbage collection...", "info")
-    gc.collect()
-    gc.collect()  # Run twice for weak references
-    print_status("[Restart] Garbage collection complete", "info")
-
-    print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
-    return True

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(), name="web-api-startup-device")
-        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
+        asyncio.create_task(broadcast_device_status())
+        asyncio.create_task(broadcast_status_page_data())

unilabos/app/web/client.py

@@ -3,15 +3,15 @@ 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
+import time
+from threading import Thread
 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.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
 from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
@@ -282,60 +282,24 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(
-        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
-    ) -> requests.Response:
+    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
         """
-        注册资源到服务器，同步保存请求/响应到 unilabos_data
+        注册资源到服务器
 
         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",
-            data=compressed_body,
-            headers=headers,
+            json=registry_data,
+            headers={"Authorization": f"Lab {self.auth}"},
             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:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"注册资源失败: {response.text}")
         return response
 
     def request_startup_json(self) -> Optional[Dict[str, Any]]:
@@ -377,10 +341,9 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
-        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
+        导入工作流到服务器
 
         Args:
             name: 工作流名称（顶层）
@@ -390,12 +353,13 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
-            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
         """
+        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
         payload = {
+            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
             "name": name,
             "data": {
                 "workflow_uuid": workflow_uuid,
@@ -403,6 +367,7 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
+                "published": published,
             },
         }
         # 保存请求到文件
@@ -423,51 +388,11 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
-                return res
-            # 导入成功后，如果需要发布则额外发起发布请求
-            if published:
-                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
-                publish_res = self.workflow_publish(imported_uuid, description)
-                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
-    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
-        """
-        发布工作流
-
-        Args:
-            workflow_uuid: 工作流UUID
-            description: 工作流描述
-
-        Returns:
-            Dict: API响应数据
-        """
-        payload = {
-            "uuid": workflow_uuid,
-            "description": description,
-            "published": True,
-        }
-        logger.info(f"正在发布工作流: {workflow_uuid}")
-        response = requests.patch(
-            f"{self.remote_addr}/lab/workflow/owner",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"发布工作流失败: {response.text}")
-            else:
-                logger.info(f"工作流发布成功: {workflow_uuid}")
-            return res
-        else:
-            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/controller.py

@@ -58,14 +58,14 @@ class JobResultStore:
                 feedback=feedback or {},
                 timestamp=time.time(),
             )
-            logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
 
     def get_and_remove(self, job_id: str) -> Optional[JobResult]:
         """获取并删除任务结果"""
         with self._results_lock:
             result = self._results.pop(job_id, None)
             if result:
-                logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
             return result
 
     def get_result(self, job_id: str) -> Optional[JobResult]:
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
             queue_item,
             action_type=action_type,
             action_kwargs=action_args,
-            sample_material=req.sample_material,
             server_info=server_info,
         )
 

unilabos/app/web/server.py

@@ -6,6 +6,7 @@ Web服务器模块
 
 import webbrowser
 
+import uvicorn
 from fastapi import FastAPI, Request
 from fastapi.middleware.cors import CORSMiddleware
 from starlette.responses import Response
@@ -86,7 +87,7 @@ 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:
@@ -95,7 +96,7 @@ def setup_server() -> FastAPI:
     return app
 
 
-def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
+def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
     """
     启动服务器
 
@@ -103,14 +104,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
         host: 服务器主机
         port: 服务器端口
         open_browser: 是否自动打开浏览器
-
-    Returns:
-        bool: True if restart was requested, False otherwise
     """
-    import threading
-    import time
-    from uvicorn import Config, Server
-
     # 设置服务器
     setup_server()
 
@@ -129,37 +123,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
 
     # 启动服务器
     info(f"[Web] 启动FastAPI服务器: {host}:{port}")
-
-    # 使用支持重启的模式
-    config = Config(app=app, host=host, port=port, log_config=log_config)
-    server = Server(config)
-
-    # 启动服务器线程
-    server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
-    server_thread.start()
-
-    # info("[Web] Server started, monitoring for restart requests...")
-
-    # 监控重启标志
-    import unilabos.app.main as main_module
-
-    while server_thread.is_alive():
-        if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
-            info(
-                f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
-            )
-            main_module._restart_requested = False
-
-            # 停止服务器
-            server.should_exit = True
-            server_thread.join(timeout=5)
-
-            info("[Web] Server stopped, ready for restart")
-            return True
-
-        time.sleep(1)
-
-    return False
+    uvicorn.run(app, host=host, port=port, log_config=log_config)
 
 
 # 当脚本直接运行时启动服务器

unilabos/app/ws_client.py

@@ -23,10 +23,9 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from typing_extensions import TypedDict
+from jedi.inference.gradual.typing 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
@@ -77,7 +76,6 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
-    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -129,15 +127,6 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
-            # always_free的动作不受排队限制，直接设为READY
-            if job_info.always_free:
-                job_info.status = JobStatus.READY
-                job_info.update_timestamp()
-                job_info.set_ready_timeout(10)
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
-                return True
-
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -165,7 +154,7 @@ 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.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -187,15 +176,11 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # always_free的job不需要检查active_jobs
-            if not job_info.always_free:
-                # 检查设备上是否是这个job
-                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                    job_log = format_job_log(
-                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
-                    )
-                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    return False
+            # 检查设备上是否是这个job
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -218,13 +203,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理，不影响队列
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                job_info.update_timestamp()
-                del self.all_jobs[job_id]
-                return None
-
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -232,9 +210,8 @@ 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.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
-                pass
+                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}")
             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}")
@@ -250,20 +227,15 @@ 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.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
         with self.lock:
-            jobs = list(self.active_jobs.values())
-            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
-                    jobs.append(job)
-            return jobs
+            return list(self.active_jobs.values())
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -288,14 +260,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
-                return True
-
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -304,7 +268,7 @@ 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.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.info(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]:
@@ -317,7 +281,7 @@ 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.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -331,7 +295,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.info(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)
@@ -369,18 +333,13 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
-            ready_candidates = list(self.active_jobs.values())
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
-                    ready_candidates.append(job)
-
-            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
+            # 统计READY状态的任务数量
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in ready_candidates:
+            for job_info in self.active_jobs.values():
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -400,7 +359,7 @@ class MessageProcessor:
         self.device_manager = device_manager
         self.queue_processor = None  # 延迟设置
         self.websocket_client = None  # 延迟设置
-        self.session_id = str(uuid.uuid4())[:6]  # 产生一个随机的session_id
+        self.session_id = ""
 
         # WebSocket连接
         self.websocket = None
@@ -409,7 +368,6 @@ 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}")
@@ -436,31 +394,22 @@ 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"""
-        self._loop = asyncio.new_event_loop()
+        loop = asyncio.new_event_loop()
         try:
-            asyncio.set_event_loop(self._loop)
-            self._loop.run_until_complete(self._connection_handler())
+            asyncio.set_event_loop(loop)
+            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 self._loop:
-                self._loop.close()
-            self._loop = None
+            if loop:
+                loop.close()
 
     async def _connection_handler(self):
         """处理WebSocket连接和重连逻辑"""
@@ -472,15 +421,13 @@ class MessageProcessor:
                     ssl_context = ssl_module.create_default_context()
 
                 ws_logger = logging.getLogger("websockets.client")
-                ws_logger.setLevel(logging.INFO)
+                # 日志级别已在 unilabos.utils.log 中统一配置为 WARNING
 
                 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}",
@@ -491,94 +438,68 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
+                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
 
                     # 启动发送协程
-                    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()
+                    send_task = asyncio.create_task(self._send_handler())
 
                     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] 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(traceback.format_exc())
-                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
-            finally:
+                logger.warning("[MessageProcessor] Connection closed")
                 self.connected = False
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
+                logger.error(traceback.format_exc())
+                self.connected = False
+            finally:
                 self.websocket = None
 
             # 重连逻辑
-            if not self.is_running:
-                break
-            if self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
-                backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
+                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(backoff)
-            else:
+                await asyncio.sleep(WSConfig.reconnect_interval)
+            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
                 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。
-
-        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。
-        """
+        """处理接收到的消息"""
         if not self.websocket:
             logger.error("[MessageProcessor] WebSocket connection is None")
             return
 
-        async for message in self.websocket:
-            try:
-                data = json.loads(message)
-                message_type = data.get("action", "")
-                message_data = data.get("data")
-                if self.session_id and self.session_id == data.get("edge_session"):
-                    await self._process_message(message_type, message_data)
-                else:
-                    if message_type.endswith("_material"):
-                        logger.trace(
-                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
-                        )
-                        logger.debug(
-                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
-                        )
-                    else:
-                        await self._process_message(message_type, message_data)
-            except json.JSONDecodeError:
-                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-            except Exception as e:
-                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                logger.error(traceback.format_exc())
+        try:
+            async for message in self.websocket:
+                try:
+                    data = json.loads(message)
+                    await self._process_message(data)
+                except json.JSONDecodeError:
+                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
+                    logger.error(traceback.format_exc())
+
+        except websockets.exceptions.ConnectionClosed:
+            logger.info("[MessageProcessor] Message handler stopped - connection closed")
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
+            logger.error(traceback.format_exc())
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
@@ -610,7 +531,7 @@ class MessageProcessor:
                         try:
                             message_str = json.dumps(msg, ensure_ascii=False)
                             await self.websocket.send(message_str)
-                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                         except Exception as e:
                             logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                             logger.error(traceback.format_exc())
@@ -627,16 +548,18 @@ 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())
         finally:
             logger.debug("[MessageProcessor] Send handler stopped")
 
-    async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
+    async def _process_message(self, data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
+        message_type = data.get("action", "")
+        message_data = data.get("data")
+
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -648,23 +571,14 @@ class MessageProcessor:
             elif message_type == "cancel_action" or message_type == "cancel_task":
                 await self._handle_cancel_action(message_data)
             elif message_type == "add_material":
-                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "add")
             elif message_type == "update_material":
-                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "update")
             elif message_type == "remove_material":
-                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "remove")
-            # 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)
+            elif message_type == "session_id":
+                self.session_id = message_data.get("session_id")
+                logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
             else:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -678,24 +592,6 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
-    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
-        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
-        try:
-            host_node = HostNode.get_instance(0)
-            if not host_node:
-                return False
-            # noinspection PyProtectedMember
-            action_mappings = host_node._action_value_mappings.get(device_id)
-            if not action_mappings:
-                return False
-            # 尝试直接匹配或 auto- 前缀匹配
-            for key in [action_name, f"auto-{action_name}"]:
-                if key in action_mappings:
-                    return action_mappings[key].get("always_free", False)
-            return False
-        except Exception:
-            return False
-
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -710,9 +606,6 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
-        # 检查action是否为always_free
-        action_always_free = self._check_action_always_free(device_id, action_name)
-
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -722,7 +615,6 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
-            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -734,13 +626,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.info(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.trace(f"[MessageProcessor] Job {job_log} queued")
+            logger.info(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -749,8 +641,6 @@ class MessageProcessor:
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理job_start消息"""
         try:
-            if not data.get("sample_material"):
-                data["sample_material"] = {}
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
@@ -782,7 +672,6 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
-                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -947,7 +836,9 @@ 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"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -961,13 +852,11 @@ 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.info(f"触发物料更新 {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():
-            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
+            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
 
             def _notify_resource_tree(dev_id, act, item_list):
                 try:
@@ -999,81 +888,6 @@ 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
-
-        当LabGo发送request_restart时，执行清理并触发重启
-        """
-        reason = data.get("reason", "unknown")
-        delay = data.get("delay", 2)  # 默认延迟2秒
-        logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
-
-        # 发送确认消息
-        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
-
-        # 延迟后执行清理
-        await asyncio.sleep(delay)
-
-        # 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:
-                    logger.error("[MessageProcessor] Cleanup failed")
-            except Exception as e:
-                logger.error(f"[MessageProcessor] Error during cleanup: {e}")
-
-        cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
-        cleanup_thread.start()
-        logger.info(f"[MessageProcessor] Restart cleanup scheduled")
-
     async def _send_action_state_response(
         self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
     ):
@@ -1145,7 +959,6 @@ 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")
@@ -1246,11 +1059,6 @@ 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": {
@@ -1266,7 +1074,7 @@ 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.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.debug(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}")
 
@@ -1289,7 +1097,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.info(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)
@@ -1309,8 +1117,8 @@ 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.debug(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.info(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()
@@ -1399,8 +1207,8 @@ 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}")
-                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
-                time.sleep(0.3)
+                # 给一点时间让消息发送出去
+                time.sleep(1)
             except Exception as e:
                 logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
 
@@ -1432,22 +1240,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
-
-    def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
-        """发布高频关节状态（push_joint_state，不写 DB）"""
-        if self.is_disabled or not self.is_connected():
-            return
-
-        message = {
-            "action": "push_joint_state",
-            "data": {
-                "node_uuid": node_uuid,
-                "joint_states": joint_states or {},
-                "resource_poses": resource_poses or {},
-            },
-        }
-        self.message_processor.send_message(message)
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1467,7 +1260,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            logger.info(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)
@@ -1489,7 +1282,7 @@ class WebSocketClient(BaseCommunicationClient):
         self.message_processor.send_message(message)
 
         job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
-        logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
+        logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
 
     def send_ping(self, ping_id: str, timestamp: float) -> None:
         """发送ping消息"""
@@ -1520,59 +1313,17 @@ class WebSocketClient(BaseCommunicationClient):
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
 
     def publish_host_ready(self) -> None:
-        """发布host_node ready信号，包含设备和动作信息"""
+        """发布host_node ready信号"""
         if self.is_disabled or not self.is_connected():
             logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
             return
 
-        # 收集设备信息
-        devices = []
-        machine_name = BasicConfig.machine_name
-
-        try:
-            host_node = HostNode.get_instance(0)
-            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}"
-                    )
-                    is_online = device_key in host_node._online_devices
-
-                    # 获取设备的动作信息
-                    actions = {}
-                    for action_id, client in host_node._action_clients.items():
-                        # action_id 格式: /namespace/device_id/action_name
-                        if device_id in action_id:
-                            action_name = action_id.split("/")[-1]
-                            actions[action_name] = {
-                                "action_path": action_id,
-                                "action_type": str(type(client).__name__),
-                            }
-
-                    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:
-            logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
-
         message = {
             "action": "host_node_ready",
             "data": {
                 "status": "ready",
                 "timestamp": time.time(),
-                "machine_name": machine_name,
-                "devices": devices,
             },
         }
         self.message_processor.send_message(message)
-        logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")
+        logger.info("[WebSocketClient] Host node ready signal published")

unilabos/compile/pump_protocol.py

@@ -95,29 +95,8 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
     return total_volume
 
 
-def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
-    """
-    判断是否为泵阀一体设备
-    """
-    class_lower = (node_class or "").lower()
-    name_lower = (node_name or "").lower()
-
-    if "pump" not in class_lower and "pump" not in name_lower:
-        return False
-
-    integrated_markers = [
-        "valve",
-        "pump_valve",
-        "pumpvalve",
-        "integrated",
-        "transfer_pump",
-    ]
-
-    for marker in integrated_markers:
-        if marker in class_lower or marker in name_lower:
-            return True
-
-    return False
+def is_integrated_pump(node_name):
+    return "pump" in node_name and "valve" in node_name
 
 
 def find_connected_pump(G, valve_node):
@@ -207,9 +186,7 @@ def build_pump_valve_maps(G, pump_backbone):
     debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
 
     for node in filtered_backbone:
-        node_data = G.nodes.get(node, {})
-        node_class = node_data.get("class", "") or ""
-        if is_integrated_pump(node_class, node):
+        if is_integrated_pump(G.nodes[node]["class"]):
             pumps_from_node[node] = node
             valve_from_node[node] = node
             debug_print(f"  - 集成泵-阀: {node}")

unilabos/config/config.py

@@ -16,15 +16,11 @@ class BasicConfig:
     upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
-    no_update_feedback = False
     enable_resource_load = True
     communication_protocol = "websocket"
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
-    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
-    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"
 
@@ -41,7 +37,7 @@ class BasicConfig:
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
     max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 20  # ping间隔（秒）
+    ping_interval = 30  # ping间隔（秒）
 
 
 # HTTP配置
@@ -147,5 +143,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
         load_config(config_path)

unilabos/device_comms/coin_cell_assembly_workstation.py

@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
 """
 from typing import Dict, Any, List, Optional, Union
 
-from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
 from unilabos.device_comms.workstation_communication import (
     WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
         # 创建资源跟踪器（如果没有提供）
         if resource_tracker is None:
-            from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
+            from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
             resource_tracker = DeviceNodeResourceTracker()
         
         # 初始化基类

unilabos/device_comms/modbus_plc/client.py

@@ -4,8 +4,7 @@ import traceback
 from typing import Any, Union, List, Dict, Callable, Optional, Tuple
 from pydantic import BaseModel
 
-from pymodbus.client import ModbusSerialClient, ModbusTcpClient
-from pymodbus.framer import FramerType
+from pymodbus.client.sync import ModbusSerialClient, ModbusTcpClient
 from typing import TypedDict
 
 from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
@@ -403,7 +402,7 @@ class TCPClient(BaseClient):
 class RTUClient(BaseClient):
     def __init__(self, port: str, baudrate: int, timeout: int):
         super().__init__()
-        self._set_client(ModbusSerialClient(framer=FramerType.RTU, port=port, baudrate=baudrate, timeout=timeout))
+        self._set_client(ModbusSerialClient(method='rtu', port=port, baudrate=baudrate, timeout=timeout))
         self._connect()
 
 if __name__ == '__main__':

unilabos/device_comms/modbus_plc/modbus.py

@@ -1,12 +1,26 @@
 # coding=utf-8
 from enum import Enum
 from abc import ABC, abstractmethod
+from typing import Tuple, Union, Optional, TYPE_CHECKING
+from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
+from pymodbus.constants import Endian
 
-from pymodbus.client import ModbusBaseSyncClient
-from pymodbus.client.mixin import ModbusClientMixin 
-from typing import Tuple, Union, Optional
+if TYPE_CHECKING:
+    from pymodbus.client.sync import ModbusSerialClient, ModbusTcpClient
+
+# Define DataType enum for pymodbus 2.5.3 compatibility
+class DataType(Enum):
+    INT16 = "int16"
+    UINT16 = "uint16"
+    INT32 = "int32"
+    UINT32 = "uint32"
+    INT64 = "int64"
+    UINT64 = "uint64"
+    FLOAT32 = "float32"
+    FLOAT64 = "float64"
+    STRING = "string"
+    BOOL = "bool"
 
-DataType = ModbusClientMixin.DATATYPE
 
 class WorderOrder(Enum):
     BIG = "big"
@@ -19,8 +33,96 @@ class DeviceType(Enum):
     INPUT_REGISTER = 'input_register'
 
 
+def _convert_from_registers(registers, data_type: DataType, word_order: str = 'big'):
+    """Convert registers to a value using BinaryPayloadDecoder.
+    
+    Args:
+        registers: List of register values
+        data_type: DataType enum specifying the target data type
+        word_order: 'big' or 'little' endian
+        
+    Returns:
+        Converted value
+    """
+    # Determine byte and word order based on word_order parameter
+    if word_order == 'little':
+        byte_order = Endian.Little
+        word_order_enum = Endian.Little
+    else:
+        byte_order = Endian.Big
+        word_order_enum = Endian.Big
+    
+    decoder = BinaryPayloadDecoder.fromRegisters(registers, byteorder=byte_order, wordorder=word_order_enum)
+    
+    if data_type == DataType.INT16:
+        return decoder.decode_16bit_int()
+    elif data_type == DataType.UINT16:
+        return decoder.decode_16bit_uint()
+    elif data_type == DataType.INT32:
+        return decoder.decode_32bit_int()
+    elif data_type == DataType.UINT32:
+        return decoder.decode_32bit_uint()
+    elif data_type == DataType.INT64:
+        return decoder.decode_64bit_int()
+    elif data_type == DataType.UINT64:
+        return decoder.decode_64bit_uint()
+    elif data_type == DataType.FLOAT32:
+        return decoder.decode_32bit_float()
+    elif data_type == DataType.FLOAT64:
+        return decoder.decode_64bit_float()
+    elif data_type == DataType.STRING:
+        return decoder.decode_string(len(registers) * 2)
+    else:
+        raise ValueError(f"Unsupported data type: {data_type}")
+
+
+def _convert_to_registers(value, data_type: DataType, word_order: str = 'little'):
+    """Convert a value to registers using BinaryPayloadBuilder.
+    
+    Args:
+        value: Value to convert
+        data_type: DataType enum specifying the source data type
+        word_order: 'big' or 'little' endian
+        
+    Returns:
+        List of register values
+    """
+    # Determine byte and word order based on word_order parameter
+    if word_order == 'little':
+        byte_order = Endian.Little
+        word_order_enum = Endian.Little
+    else:
+        byte_order = Endian.Big
+        word_order_enum = Endian.Big
+    
+    builder = BinaryPayloadBuilder(byteorder=byte_order, wordorder=word_order_enum)
+    
+    if data_type == DataType.INT16:
+        builder.add_16bit_int(value)
+    elif data_type == DataType.UINT16:
+        builder.add_16bit_uint(value)
+    elif data_type == DataType.INT32:
+        builder.add_32bit_int(value)
+    elif data_type == DataType.UINT32:
+        builder.add_32bit_uint(value)
+    elif data_type == DataType.INT64:
+        builder.add_64bit_int(value)
+    elif data_type == DataType.UINT64:
+        builder.add_64bit_uint(value)
+    elif data_type == DataType.FLOAT32:
+        builder.add_32bit_float(value)
+    elif data_type == DataType.FLOAT64:
+        builder.add_64bit_float(value)
+    elif data_type == DataType.STRING:
+        builder.add_string(value)
+    else:
+        raise ValueError(f"Unsupported data type: {data_type}")
+    
+    return builder.to_registers()
+
+
 class Base(ABC):
-    def __init__(self, client: ModbusBaseSyncClient, name: str, address: int, typ: DeviceType, data_type: DataType):
+    def __init__(self, client, name: str, address: int, typ: DeviceType, data_type):
         self._address: int = address
         self._client = client
         self._name = name
@@ -58,7 +160,11 @@ class Coil(Base):
                 count = value,
                 slave = slave)
 
-        return resp.bits, resp.isError()
+        # 检查是否读取出错
+        if resp.isError():
+            return [], True
+        
+        return resp.bits, False
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
         if isinstance(value, list):
@@ -91,8 +197,18 @@ class DiscreteInputs(Base):
                 count = value,
                 slave = slave)
 
+        # 检查是否读取出错
+        if resp.isError():
+            # 根据数据类型返回默认值
+            if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
+                return 0.0, True
+            elif data_type == DataType.STRING:
+                return "", True
+            else:
+                return 0, True
+        
         # noinspection PyTypeChecker
-        return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
+        return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
         raise ValueError('discrete inputs only support read')
@@ -112,8 +228,19 @@ class HoldRegister(Base):
                 address = self.address,
                 count = value,
                 slave = slave)
+        
+        # 检查是否读取出错
+        if resp.isError():
+            # 根据数据类型返回默认值
+            if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
+                return 0.0, True
+            elif data_type == DataType.STRING:
+                return "", True
+            else:
+                return 0, True
+        
         # noinspection PyTypeChecker
-        return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
+        return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
 
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
@@ -132,7 +259,7 @@ class HoldRegister(Base):
             return self._client.write_register(self.address, value, slave= slave).isError()
         else:
             # noinspection PyTypeChecker
-            encoder_resp = self._client.convert_to_registers(value, data_type=data_type, word_order=word_order.value)
+            encoder_resp = _convert_to_registers(value, data_type=data_type, word_order=word_order.value)
             return self._client.write_registers(self.address, encoder_resp, slave=slave).isError()
 
 
@@ -153,8 +280,19 @@ class InputRegister(Base):
                 address = self.address,
                 count = value,
                 slave = slave)
+        
+        # 检查是否读取出错
+        if resp.isError():
+            # 根据数据类型返回默认值
+            if data_type in [DataType.FLOAT32, DataType.FLOAT64]:
+                return 0.0, True
+            elif data_type == DataType.STRING:
+                return "", True
+            else:
+                return 0, True
+        
         # noinspection PyTypeChecker
-        return self._client.convert_from_registers(resp.registers, data_type, word_order=word_order.value), resp.isError()
+        return _convert_from_registers(resp.registers, data_type, word_order=word_order.value), False
 
     def write(self,value: Union[int, float, bool, str, list[bool], list[int], list[float]], data_type: Optional[DataType ]= None, word_order: WorderOrder = WorderOrder.LITTLE, slave = 1) -> bool:
         raise ValueError('input register only support read')

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -3,7 +3,7 @@ from enum import Enum
 from abc import ABC, abstractmethod
 from typing import Tuple, Union, Optional, Any, List
 
-from opcua import Client, Node, ua
+from opcua import Client, Node
 from opcua.ua import NodeId, NodeClass, VariantType
 
 
@@ -43,72 +43,27 @@ class Base(ABC):
         self._type = typ
         self._data_type = data_type
         self._node: Optional[Node] = None
-
+        
     def _get_node(self) -> Node:
         if self._node is None:
             try:
-                # 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出
-                # 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString',
-                # 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等
-                import re
-
-                nid = self._node_id
-                # 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用
-                try:
-                    from opcua.ua import NodeId as UaNodeId
-                    if isinstance(nid, UaNodeId):
-                        self._node = self._client.get_node(nid)
-                        return self._node
-                except Exception:
-                    # 若导入或类型判断失败，则继续下一步
-                    pass
-
-                # 直接以字符串形式处理
-                if isinstance(nid, str):
-                    nid = nid.strip()
-
-                    # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
-                    # 提取括号内的内容
-                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
-                    if match_wrapped:
-                        # 提取括号内的实际 node_id 字符串
-                        nid = match_wrapped.group(2).strip()
-
-                    # 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString'
-                    if re.match(r'^ns=\d+;[is]=', nid):
-                        self._node = self._client.get_node(nid)
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._node = self._client.get_node(node_id)
                     else:
-                        # 尝试提取 ns 和 i 或 s
-                        # 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配
-                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
-                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
-                        if m_num:
-                            ns = int(m_num.group(1))
-                            identifier = int(m_num.group(2))
-                            node_id = NodeId(identifier, ns)
-                            self._node = self._client.get_node(node_id)
-                        elif m_str:
-                            ns = int(m_str.group(1))
-                            identifier = m_str.group(2).strip()
-                            # 对于字符串标识符，直接使用字符串格式
-                            node_id_str = f"ns={ns};s={identifier}"
-                            self._node = self._client.get_node(node_id_str)
-                        else:
-                            # 回退：尝试直接传入字符串（有些实现接受其它格式）
-                            try:
-                                self._node = self._client.get_node(self._node_id)
-                            except Exception as e:
-                                # 输出更详细的错误信息供调试
-                                print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}")
-                                raise
+                        raise ValueError(f"无法解析节点ID: {self._node_id}")
                 else:
-                    # 非字符串，尝试直接使用
+                    # 直接使用节点ID字符串
                     self._node = self._client.get_node(self._node_id)
             except Exception as e:
                 print(f"获取节点失败: {self._node_id}, 错误: {e}")
-                # 添加额外提示，帮助定位 BadNodeIdUnknown 问题
-                print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \
-                      "以及 CSV/配置中名称与服务器 BrowseName 是否匹配。")
                 raise
         return self._node
 
@@ -116,16 +71,16 @@ class Base(ABC):
     def read(self) -> Tuple[Any, bool]:
         """读取节点值，返回(值, 是否出错)"""
         pass
-
+    
     @abstractmethod
     def write(self, value: Any) -> bool:
         """写入节点值，返回是否出错"""
         pass
-
+    
     @property
     def type(self) -> NodeType:
         return self._type
-
+    
     @property
     def node_id(self) -> str:
         return self._node_id
@@ -149,56 +104,7 @@ class Variable(Base):
 
     def write(self, value: Any) -> bool:
         try:
-            # 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入
-            coerced = value
-            try:
-                if self._data_type is not None:
-                    # 基于声明的数据类型做简单类型转换
-                    dt = self._data_type
-                    if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16,
-                              DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64):
-                        # 数值类型 -> int
-                        if isinstance(value, str):
-                            coerced = int(value)
-                        else:
-                            coerced = int(value)
-                    elif dt in (DataType.FLOAT, DataType.DOUBLE):
-                        if isinstance(value, str):
-                            coerced = float(value)
-                        else:
-                            coerced = float(value)
-                    elif dt == DataType.BOOLEAN:
-                        if isinstance(value, str):
-                            v = value.strip().lower()
-                            if v in ("true", "1", "yes", "on"):
-                                coerced = True
-                            elif v in ("false", "0", "no", "off"):
-                                coerced = False
-                            else:
-                                coerced = bool(value)
-                        else:
-                            coerced = bool(value)
-                    elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME:
-                        coerced = str(value)
-
-                    # 使用 ua.Variant 明确指定 VariantType
-                    try:
-                        variant = ua.Variant(coerced, dt.value)
-                        self._get_node().set_value(variant)
-                    except Exception:
-                        # 回退：有些 set_value 实现接受 (value, variant_type)
-                        try:
-                            self._get_node().set_value(coerced, dt.value)
-                        except Exception:
-                            # 最后回退到直接写入（保持兼容性）
-                            self._get_node().set_value(coerced)
-                else:
-                    # 未声明数据类型，直接写入
-                    self._get_node().set_value(value)
-            except Exception:
-                # 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误
-                self._get_node().set_value(value)
-
+            self._get_node().set_value(value)
             return False
         except Exception as e:
             print(f"写入变量 {self._name} 失败: {e}")
@@ -210,54 +116,24 @@ class Method(Base):
         super().__init__(client, name, node_id, NodeType.METHOD, data_type)
         self._parent_node_id = parent_node_id
         self._parent_node = None
-
+        
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
-                # 处理父节点ID，使用与_get_node相同的解析逻辑
-                import re
-
-                nid = self._parent_node_id
-
-                # 如果已经是 NodeId 对象，直接使用
-                try:
-                    from opcua.ua import NodeId as UaNodeId
-                    if isinstance(nid, UaNodeId):
-                        self._parent_node = self._client.get_node(nid)
-                        return self._parent_node
-                except Exception:
-                    pass
-
-                # 字符串处理
-                if isinstance(nid, str):
-                    nid = nid.strip()
-
-                    # 处理包含类名的格式
-                    match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
-                    if match_wrapped:
-                        nid = match_wrapped.group(2).strip()
-
-                    # 常见短格式
-                    if re.match(r'^ns=\d+;[is]=', nid):
-                        self._parent_node = self._client.get_node(nid)
+                # 检查是否是NumericNodeId(ns=X;i=Y)格式
+                if "NumericNodeId" in self._parent_node_id:
+                    # 从字符串中提取命名空间和标识符
+                    import re
+                    match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
+                    if match:
+                        ns = int(match.group(1))
+                        identifier = int(match.group(2))
+                        node_id = NodeId(identifier, ns)
+                        self._parent_node = self._client.get_node(node_id)
                     else:
-                        # 提取 ns 和 i 或 s
-                        m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
-                        m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
-                        if m_num:
-                            ns = int(m_num.group(1))
-                            identifier = int(m_num.group(2))
-                            node_id = NodeId(identifier, ns)
-                            self._parent_node = self._client.get_node(node_id)
-                        elif m_str:
-                            ns = int(m_str.group(1))
-                            identifier = m_str.group(2).strip()
-                            node_id_str = f"ns={ns};s={identifier}"
-                            self._parent_node = self._client.get_node(node_id_str)
-                        else:
-                            # 回退
-                            self._parent_node = self._client.get_node(self._parent_node_id)
+                        raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
                 else:
+                    # 直接使用节点ID字符串
                     self._parent_node = self._client.get_node(self._parent_node_id)
             except Exception as e:
                 print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")
@@ -271,7 +147,7 @@ class Method(Base):
     def write(self, value: Any) -> bool:
         """方法节点不支持写入操作"""
         return True
-
+        
     def call(self, *args) -> Tuple[Any, bool]:
         """调用方法，返回(返回值, 是否出错)"""
         try:
@@ -285,7 +161,7 @@ class Method(Base):
 class Object(Base):
     def __init__(self, client: Client, name: str, node_id: str):
         super().__init__(client, name, node_id, NodeType.OBJECT, None)
-
+        
     def read(self) -> Tuple[Any, bool]:
         """对象节点不支持直接读取操作"""
         return None, True
@@ -293,7 +169,7 @@ class Object(Base):
     def write(self, value: Any) -> bool:
         """对象节点不支持直接写入操作"""
         return True
-
+    
     def get_children(self) -> Tuple[List[Node], bool]:
         """获取子节点列表，返回(子节点列表, 是否出错)"""
         try:
@@ -301,4 +177,4 @@ class Object(Base):
             return children, False
         except Exception as e:
             print(f"获取对象 {self._name} 的子节点失败: {e}")
-            return [], True
+            return [], True 

unilabos/device_comms/universal_driver.py

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

unilabos/device_mesh/resource_visalization.py

@@ -128,21 +128,14 @@ class ResourceVisualization:
                         new_dev.set("device_name", node["id"]+"_")
                         # if node["parent"] is not None:
                         #     new_dev.set("station_name", node["parent"]+'_')
-                        if "position" in node:
-                            new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
-                            new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
-                            new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
+
+                        new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
+                        new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
+                        new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
                         if "rotation" in node["config"]:
                             new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
                             new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
                             new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
-                        if "pose" in node:
-                            new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
-                            new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
-                            new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000))
-                            new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
-                            new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
-                            new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
                         if "device_config" in node["config"]:
                             for key, value in node["config"]["device_config"].items():
                                 new_dev.set(key, str(value))