Merge pull request #250 from ALITTLELZ/adaptors

Add PRCXI functional modules and fix Deck layout

.conda/environment/recipe.yaml

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

.gitignore

@@ -253,4 +253,8 @@ test_config.py
 
 
 /.claude
+/.conda
 /.cursor
+/.github
+/.conda/base
+.conda/base/recipe.yaml

unilabos/device_mesh/resource_visalization.py

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

unilabos/devices/liquid_handling/prcxi/prcxi_modules.py

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

unilabos/devices/liquid_handling/rviz_backend.py

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

unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py

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

unilabos/registry/resources/prcxi/modules.yaml

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

unilabos/resources/plr_additional_res_reg.py

@@ -9,6 +9,9 @@ def register():
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack
+    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300ModuleSite
+    # noinspection PyUnresolvedReferences
+    from unilabos.devices.liquid_handling.prcxi.prcxi_modules import PRCXI9300FunctionalModule
     # noinspection PyUnresolvedReferences
     from unilabos.devices.workstation.workstation_base import WorkStationContainer
 

unilabos/resources/resource_tracker.py

@@ -459,6 +459,8 @@ class ResourceTreeSet(object):
                 "reagent_bottle": "reagent_bottle",
                 "flask": "flask",
                 "beaker": "beaker",
+                "module": "module",
+                "carrier": "carrier",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -596,6 +598,8 @@ class ResourceTreeSet(object):
             "deck": "Deck",
             "container": "RegularContainer",
             "tip_spot": "TipSpot",
+            "module": "PRCXI9300ModuleSite",
+            "carrier": "ItemizedCarrier",
         }
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
@@ -735,7 +739,7 @@ class ResourceTreeSet(object):
                 plr_resources.append(plr_resource)
 
             except Exception as e:
-                logger.error(f"转换 PLR 资源失败: {e}")
+                logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
                 import traceback
 
                 logger.error(f"堆栈: {traceback.format_exc()}")
@@ -743,38 +747,15 @@ class ResourceTreeSet(object):
 
         if requested_uuids:
             # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
-            # 优先使用 tracker.uuid_to_resources；若映射缺失，再递归遍历 PLR 树兜底搜索。
-            def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]:
-                stack = list(roots)
-                while stack:
-                    node = stack.pop()
-                    node_uid = getattr(node, "unilabos_uuid", None)
-                    if node_uid == uid:
-                        return node
-                    children = getattr(node, "children", None) or []
-                    stack.extend(children)
-                return None
-
             result = []
-            missing_uuids = []
             for uid in requested_uuids:
-                found = tracker.uuid_to_resources.get(uid)
+                if uid in tracker.uuid_to_resources:
-                if found is None:
+                    result.append(tracker.uuid_to_resources[uid])
-                    found = _find_plr_by_uuid(plr_resources, uid)
-                    if found is not None:
-                        # 回填缓存，后续相同 uuid 可直接命中
-                        tracker.uuid_to_resources[uid] = found
-                if found is None:
-                    missing_uuids.append(uid)
                 else:
-                    result.append(found)
+                    raise ValueError(
-
+                        f"请求的 UUID {uid} 在资源树中未找到。"
-            if missing_uuids:
+                        f"可用 UUID 数量: {len(tracker.uuid_to_resources)}"
-                raise ValueError(
+                    )
-                    f"请求的 UUID 未在资源树中找到: {missing_uuids}。"
-                    f"可用 UUID 数量: {len(tracker.uuid_to_resources)}，"
-                    f"资源树数量: {len(self.trees)}"
-                )
             return result
         return plr_resources
 
@@ -793,13 +774,7 @@ class ResourceTreeSet(object):
             ValueError: 当建立关系时发现不一致
         """
         # 第一步：将字典列表转换为 ResourceDictInstance 列表
-        parsed_list = []
+        instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in raw_list]
-        for node_dict in raw_list:
-            if isinstance(node_dict, str):
-                import json
-                node_dict = json.loads(node_dict)
-            parsed_list.append(node_dict)
-        instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in parsed_list]
 
         # 第二步：建立映射关系
         uuid_to_instance: Dict[str, ResourceDictInstance] = {}
@@ -987,6 +962,17 @@ class ResourceTreeSet(object):
                                 f"从远端同步了 {added_count} 个物料子树"
                             )
                     else:
+                        # 二级是物料
+                        if remote_child_name not in local_children_map:
+                            # 本地不存在该物料，直接引入
+                            remote_child.res_content.parent = local_device.res_content
+                            local_device.children.append(remote_child)
+                            local_children_map[remote_child_name] = remote_child
+                            logger.info(
+                                f"物料 '{remote_root_id}/{remote_child_name}': "
+                                f"从远端同步了整个子树"
+                            )
+                            continue
                         # 二级物料已存在，比较三级子节点是否缺失
                         local_material = local_children_map[remote_child_name]
                         local_material_children_map = {child.res_content.name: child for child in

unilabos/ros/main_slave_run.py

@@ -51,7 +51,6 @@ def main(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
-    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 15.0,
 ) -> None:
@@ -78,12 +77,12 @@ def main(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
-        if resources_mesh_resource_list:
+        resources_list = (
-            resources_list = resources_mesh_resource_list
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
-        else:
+            if resources_config
-            # fallback: 从 ResourceTreeSet 获取
+            else []
-            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+        )
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,
@@ -91,7 +90,7 @@ def main(
             device_id="resource_mesh_manager",
             device_uuid=str(uuid.uuid4()),
         )
-        joint_republisher = JointRepublisher("joint_republisher","joint_republisher", host_node.resource_tracker)
+        joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
         # lh_joint_pub = LiquidHandlerJointPublisher(
         #     resources_config=resources_list, resource_tracker=host_node.resource_tracker
         # )
@@ -115,7 +114,6 @@ def slave(
     bridges: List[Any] = [],
     visual: str = "disable",
     resources_mesh_config: dict = {},
-    resources_mesh_resource_list: list = [],
     rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
@@ -210,12 +208,12 @@ def slave(
     if visual != "disable":
         from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
 
-        # 优先使用从 main.py 传入的完整资源列表（包含所有子资源）
+        # 将 ResourceTreeSet 转换为 list 用于 visual 组件
-        if resources_mesh_resource_list:
+        resources_list = (
-            resources_list = resources_mesh_resource_list
+            [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
-        else:
+            if resources_config
-            # fallback: 从 ResourceTreeSet 获取
+            else []
-            resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
+        )
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_list,

unilabos/ros/nodes/presets/resource_mesh_manager.py

@@ -23,32 +23,17 @@ from unilabos_msgs.action import SendCmd
 from rclpy.action.server import ServerGoalHandle
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker
 from unilabos.resources.graphio import initialize_resources
-from unilabos.resources.resource_tracker import EXTRA_CLASS
 from unilabos.registry.registry import lab_registry
 
 class ResourceMeshManager(BaseROS2DeviceNode):
-    def __init__(
+    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
-        self,
-        resource_model: Optional[dict] = None,
-        resource_config: Optional[list] = None,
-        resource_tracker=None,
-        device_id: str = "resource_mesh_manager",
-        registry_name: str = "",
-        rate=50,
-        **kwargs,
-    ):
         """初始化资源网格管理器节点
         
         Args:
-            resource_model: 资源模型字典（可选，为 None 时自动从 registry 构建）
+            resource_model (dict): 资源模型字典,包含资源的3D模型信息
-            resource_config: 资源配置列表（可选，为 None 时启动后通过 ActionServer 或 load_from_resource_tree 加载）
+            resource_config (dict): 资源配置字典,包含资源的配置信息
-            resource_tracker: 资源追踪器
+            device_id (str): 节点名称
-            device_id: 节点名称
-            rate: TF 发布频率
         """
-        if resource_tracker is None:
-            resource_tracker = DeviceNodeResourceTracker()
-
         super().__init__(
             driver_instance=self,
             device_id=device_id,
@@ -61,10 +46,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
         ) 
 
-        self.resource_model         = resource_model if resource_model is not None else {}
+        self.resource_model         = resource_model
-        self.resource_config_dict   = (
+        self.resource_config_dict   = {item['uuid']: item for item in resource_config}
-            {item['uuid']: item for item in resource_config} if resource_config else {}
-        )
         self.move_group_ready       = False
         self.resource_tf_dict       = {}
         self.tf_broadcaster         = TransformBroadcaster(self)
@@ -94,6 +77,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             callback_group=callback_group,
         )
         
+        # Create a service for applying the planning scene
         self._apply_planning_scene_service = self.create_client(
             srv_type=ApplyPlanningScene,
             srv_name="/apply_planning_scene",
@@ -119,36 +103,27 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             AttachedCollisionObject, "/attached_collision_object", 0
         )
 
+        # 创建一个Action Server用于修改resource_tf_dict
         self._action_server = ActionServer(
             self,
             SendCmd,
             f"tf_update",
             self.tf_update,
-            callback_group=callback_group,
+            callback_group=callback_group
         )
 
+        # 创建一个Action Server用于添加新的资源模型与resource_tf_dict
         self._add_resource_mesh_action_server = ActionServer(
             self,
             SendCmd,
             f"add_resource_mesh",
             self.add_resource_mesh_callback,
-            callback_group=callback_group,
+            callback_group=callback_group
         )
 
-        self._reload_resource_mesh_action_server = ActionServer(
+        self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
-            self,
+        self.create_timer(1/self.rate, self.publish_resource_tf)
-            SendCmd,
+        self.create_timer(1/self.rate, self.check_resource_pose_changes)
-            f"reload_resource_mesh",
-            self._reload_resource_mesh_callback,
-            callback_group=callback_group,
-        )
-
-        if self.resource_config_dict:
-            self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict)
-        else:
-            self.get_logger().info("未提供 resource_config，将通过 ActionServer 或 load_from_resource_tree 加载")
-        self.create_timer(1 / self.rate, self.publish_resource_tf)
-        self.create_timer(1 / self.rate, self.check_resource_pose_changes)
 
     def check_move_group_ready(self):
         """检查move_group节点是否已初始化完成"""
@@ -165,107 +140,10 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             self.add_resource_collision_meshes(self.resource_tf_dict)
 
        
-    def _build_resource_model_for_config(self, resource_config_dict: dict):
+    def add_resource_mesh_callback(self, goal_handle : ServerGoalHandle):
-        """从 registry 中为给定的资源配置自动构建 resource_model（mesh 信息）"""
-        registry = lab_registry
-        for _uuid, res_cfg in resource_config_dict.items():
-            resource_id = res_cfg.get('id', '')
-            resource_class = res_cfg.get('class', '')
-            if not resource_class:
-                continue
-            if resource_class not in registry.resource_type_registry:
-                continue
-            reg_entry = registry.resource_type_registry[resource_class]
-            if 'model' not in reg_entry:
-                continue
-            model_config = reg_entry['model']
-            if model_config.get('type') != 'resource':
-                continue
-            if resource_id in self.resource_model:
-                continue
-            self.resource_model[resource_id] = {
-                'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
-                'mesh_tf': model_config['mesh_tf'],
-            }
-            if model_config.get('children_mesh') is not None:
-                self.resource_model[f"{resource_id}_"] = {
-                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
-                    'mesh_tf': model_config['children_mesh_tf'],
-                }
-
-    def load_from_resource_tree(self):
-        """从 resource_tracker 中读取资源树，自动构建 resource_config_dict / resource_model 并刷新 TF"""
-        new_config_dict: dict = {}
-
-        def _collect_plr_resource(res, parent_uuid: Optional[str] = None):
-            res_uuid = getattr(res, 'unilabos_uuid', None)
-            if not res_uuid:
-                res_uuid = str(uuid.uuid4())
-            extra = getattr(res, 'unilabos_extra', {}) or {}
-            resource_class = extra.get(EXTRA_CLASS, '')
-
-            location = getattr(res, 'location', None)
-            pos_x = float(location.x) if location else 0.0
-            pos_y = float(location.y) if location else 0.0
-            pos_z = float(location.z) if location else 0.0
-
-            rotation = extra.get('rotation', {'x': 0, 'y': 0, 'z': 0})
-
-            new_config_dict[res_uuid] = {
-                'id': res.name,
-                'uuid': res_uuid,
-                'class': resource_class,
-                'parent_uuid': parent_uuid,
-                'pose': {
-                    'position': {'x': pos_x, 'y': pos_y, 'z': pos_z},
-                    'rotation': rotation,
-                },
-            }
-
-            for child in getattr(res, 'children', []) or []:
-                _collect_plr_resource(child, res_uuid)
-
-        for resource in self.resource_tracker.resources:
-            root_parent_uuid = None
-            plr_parent = getattr(resource, 'parent', None)
-            if plr_parent is not None:
-                root_parent_uuid = getattr(plr_parent, 'unilabos_uuid', None)
-            _collect_plr_resource(resource, root_parent_uuid)
-
-        if not new_config_dict:
-            self.get_logger().warning("resource_tracker 中没有找到任何资源")
-            return
-
-        self.resource_config_dict = {**self.resource_config_dict, **new_config_dict}
-        self._build_resource_model_for_config(new_config_dict)
-
-        tf_dict = self.resource_mesh_setup(new_config_dict)
-        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
-        self.publish_resource_tf()
-        if self.move_group_ready:
-            self.add_resource_collision_meshes(tf_dict)
-        self.get_logger().info(f"从资源树加载了 {len(new_config_dict)} 个资源")
-
-    def _reload_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
-        """ActionServer 回调：重新从资源树加载所有 mesh"""
-        try:
-            self.load_from_resource_tree()
-        except Exception as e:
-            self.get_logger().error(f"重新加载资源失败: {e}")
-            goal_handle.abort()
-            return SendCmd.Result(success=False)
-        goal_handle.succeed()
-        return SendCmd.Result(success=True)
-
-    def add_resource_mesh_callback(self, goal_handle: ServerGoalHandle):
         tf_update_msg = goal_handle.request
         try:    
-            parsed = json.loads(tf_update_msg.command.replace("'", '"'))
+            self.add_resource_mesh(tf_update_msg.command)
-            if 'resources' in parsed:
-                for res_config in parsed['resources']:
-                    self.add_resource_mesh(json.dumps(res_config))
-            else:
-                self.add_resource_mesh(tf_update_msg.command)
         except Exception as e:
             self.get_logger().error(f"添加资源失败: {e}")
             goal_handle.abort()
@@ -273,48 +151,45 @@ class ResourceMeshManager(BaseROS2DeviceNode):
         goal_handle.succeed()
         return SendCmd.Result(success=True)
     
-    def add_resource_mesh(self, resource_config_str: str):
+    def add_resource_mesh(self,resource_config_str:str):
-        """添加单个资源的 mesh 配置"""
+        """刷新资源配置"""
+
         registry = lab_registry
-        resource_config = json.loads(resource_config_str.replace("'", '"'))
+        resource_config = json.loads(resource_config_str.replace("'",'"'))
         
         if resource_config['id'] in self.resource_config_dict:
             self.get_logger().info(f'资源 {resource_config["id"]} 已存在')
             return
-        resource_class = resource_config.get('class', '')
+        if resource_config['class'] in registry.resource_type_registry.keys():
-        if resource_class and resource_class in registry.resource_type_registry:
+            model_config = registry.resource_type_registry[resource_config['class']]['model']
-            reg_entry = registry.resource_type_registry[resource_class]
+            if model_config['type'] == 'resource':
-            if 'model' in reg_entry:
+                self.resource_model[resource_config['id']] = {
-                model_config = reg_entry['model']
+                    'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
-                if model_config.get('type') == 'resource':
+                    'mesh_tf': model_config['mesh_tf']}
-                    self.resource_model[resource_config['id']] = {
+                if 'children_mesh' in model_config.keys():
-                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}",
+                    self.resource_model[f"{resource_config['id']}_"] = {
-                        'mesh_tf': model_config['mesh_tf'],
+                        'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
+                        'mesh_tf': model_config['children_mesh_tf']
                     }
-                    if model_config.get('children_mesh') is not None:
-                        self.resource_model[f"{resource_config['id']}_"] = {
-                            'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}",
-                            'mesh_tf': model_config['children_mesh_tf'],
-                        }
         resources = initialize_resources([resource_config])
         resource_dict = {item['id']: item for item in resources}
-        self.resource_config_dict = {**self.resource_config_dict, **resource_dict}
+        self.resource_config_dict = {**self.resource_config_dict,**resource_dict}
         tf_dict = self.resource_mesh_setup(resource_dict)
-        self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict}
+        self.resource_tf_dict = {**self.resource_tf_dict,**tf_dict}
         self.publish_resource_tf()
         self.add_resource_collision_meshes(tf_dict)
 
-    def resource_mesh_setup(self, resource_config_dict: dict):
+
-        """根据资源配置字典设置 TF 关系"""
+    def resource_mesh_setup(self, resource_config_dict:dict):
+        """move_group初始化完成后的设置"""
         self.get_logger().info('开始设置资源网格管理器')
+        #遍历resource_config中的资源配置，判断panent是否在resource_model中，
         resource_tf_dict = {}
         for resource_uuid, resource_config in resource_config_dict.items():
             parent = None
             resource_id = resource_config['id']
-            parent_uuid = resource_config.get('parent_uuid')
+            if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "":
-            if parent_uuid is not None and parent_uuid != "":
+                parent = resource_config_dict[resource_config['parent_uuid']]['id']
-                parent_entry = resource_config_dict.get(parent_uuid) or self.resource_config_dict.get(parent_uuid)
-                parent = parent_entry['id'] if parent_entry else None
 
             parent_link = 'world'
             if parent in self.resource_model:

unilabos/test/experiments/prcxi_9320_slim.json

@@ -74,7 +74,7 @@
                         "occupied_by": null,
                         "position": {
                             "x": 0,
-                            "y": 0,
+                            "y": 288,
                             "z": 0
                         },
                         "size": {
@@ -89,7 +89,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
+                            "plateadapter",
+                            "module"
                         ]
                     },
                     {
@@ -98,7 +100,7 @@
                         "occupied_by": null,
                         "position": {
                             "x": 138,
-                            "y": 0,
+                            "y": 288,
                             "z": 0
                         },
                         "size": {
@@ -112,7 +114,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
+                            "plateadapter",
+                            "module"
                         ]
                     },
                     {
@@ -121,7 +125,7 @@
                         "occupied_by": null,
                         "position": {
                             "x": 276,
-                            "y": 0,
+                            "y": 288,
                             "z": 0
                         },
                         "size": {
@@ -135,7 +139,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
+                            "plateadapter",
+                            "module"
                         ]
                     },
                     {
@@ -144,6 +150,231 @@
                         "occupied_by": null,
                         "position": {
                             "x": 414,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T5",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T6",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T7",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T8",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T9",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T10",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T11",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T12",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module"
+                        ]
+                    },
+                    {
+                        "label": "T13",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
                             "y": 0,
                             "z": 0
                         },
@@ -158,214 +389,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
-                        ]
+                            "plateadapter",
-                    },
+                            "module"
-                    {
-                        "label": "T5",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 0,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T6",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 138,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T7",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 276,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T8",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 414,
-                            "y": 96,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T9",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 0,
-                            "y": 192,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T10",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 138,
-                            "y": 192,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T11",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 276,
-                            "y": 192,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T12",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 414,
-                            "y": 192,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
-                        ]
-                    },
-                    {
-                        "label": "T13",
-                        "visible": true,
-                        "occupied_by": null,
-                        "position": {
-                            "x": 0,
-                            "y": 288,
-                            "z": 0
-                        },
-                        "size": {
-                            "width": 128.0,
-                            "height": 86,
-                            "depth": 0
-                        },
-                        "content_type": [
-                            "plate",
-                            "tip_rack",
-                            "plates",
-                            "tip_racks",
-                            "tube_rack",
-                            "adaptor"
                         ]
                     },
                     {
@@ -374,7 +400,7 @@
                         "occupied_by": null,
                         "position": {
                             "x": 138,
-                            "y": 288,
+                            "y": 0,
                             "z": 0
                         },
                         "size": {
@@ -388,7 +414,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
+                            "plateadapter",
+                            "module"
                         ]
                     },
                     {
@@ -397,7 +425,7 @@
                         "occupied_by": null,
                         "position": {
                             "x": 276,
-                            "y": 288,
+                            "y": 0,
                             "z": 0
                         },
                         "size": {
@@ -411,7 +439,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
+                            "plateadapter",
+                            "module"
                         ]
                     },
                     {
@@ -420,7 +450,7 @@
                         "occupied_by": null,
                         "position": {
                             "x": 414,
-                            "y": 288,
+                            "y": 0,
                             "z": 0
                         },
                         "size": {
@@ -434,7 +464,9 @@
                             "plates",
                             "tip_racks",
                             "tube_rack",
-                            "adaptor"
+                            "adaptor",
+                            "plateadapter",
+                            "module"
                         ]
                     }
                 ]

unilabos/test/experiments/prcxi_9320_with_res_test.json

@@ -108,7 +108,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -153,7 +154,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -198,7 +200,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -243,7 +246,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -288,7 +292,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -333,7 +338,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -378,7 +384,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -423,7 +430,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -468,7 +476,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -513,7 +522,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -558,7 +568,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -603,7 +614,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -648,7 +660,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -693,7 +706,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -738,7 +752,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -783,7 +798,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]

unilabos/workflow/common.py

@@ -51,7 +51,6 @@
 --------------------------------------------------------------------------------
 - 遍历 workflow 数组，为每个动作创建步骤节点
 - 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
-- 参数输入转换: liquid_height（按 wells 扩展）；mix_stage/mix_times/mix_vol/mix_rate/mix_liquid_height 保持标量
 - 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
     例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
 - 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
@@ -120,14 +119,11 @@ DEVICE_NAME_DEFAULT = "PRCXI"  # transfer_liquid, set_liquid_from_plate 等动
 # 节点类型
 NODE_TYPE_DEFAULT = "ILab"  # 所有节点的默认类型
 
-CLASS_NAMES_MAPPING = {
-    "plate": "PRCXI_BioER_96_wellplate",
-    "tip_rack": "PRCXI_300ul_Tips",
-}
 # create_resource 节点默认参数
 CREATE_RESOURCE_DEFAULTS = {
     "device_id": "/PRCXI",
     "parent_template": "/PRCXI/PRCXI_Deck",
+    "class_name": "PRCXI_BioER_96_wellplate",
 }
 
 # 默认液体体积 (uL)
@@ -142,16 +138,6 @@ PARAM_RENAME_MAPPING = {
 }
 
 
-def _map_deck_slot(raw_slot: str, object_type: str = "") -> str:
-    """协议槽位 -> 实际 deck：4→13，8→14，12+trash→16，其余不变。"""
-    s = "" if raw_slot is None else str(raw_slot).strip()
-    if not s:
-        return ""
-    if s == "12" and (object_type or "").strip().lower() == "trash":
-        return "16"
-    return {"4": "13", "8": "14"}.get(s, s)
-
-
 # ---------------- Graph ----------------
 
 
@@ -381,10 +367,11 @@ def build_protocol_graph(
     """统一的协议图构建函数，根据设备类型自动选择构建逻辑
 
     Args:
-        labware_info: labware 信息字典，格式为 {name: {slot, well, labware, ...}, ...}
+        labware_info: reagent 信息字典，格式为 {name: {slot, well}, ...}，用于 set_liquid 和 well 查找
         protocol_steps: 协议步骤列表
         workstation_name: 工作站名称
         action_resource_mapping: action 到 resource_name 的映射字典，可选
+        labware_defs: labware 定义列表，格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...]
     """
     G = WorkflowGraph()
     resource_last_writer = {}  # reagent_name -> "node_id:port"
@@ -392,22 +379,7 @@ def build_protocol_graph(
 
     protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
 
-    # ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
+    # ==================== 第一步：按 slot 创建 create_resource 节点 ====================
-    # 收集所有唯一的 slot
-    slots_info = {}  # slot -> {labware, res_id}
-    for labware_id, item in labware_info.items():
-        object_type = item.get("object", "") or ""
-        slot = _map_deck_slot(str(item.get("slot", "")), object_type)
-        labware = item.get("labware", "")
-        if slot and slot not in slots_info:
-            res_id = f"{labware}_slot_{slot}"
-            slots_info[slot] = {
-                "labware": labware,
-                "res_id": res_id,
-                "labware_id": labware_id,
-                "object": object_type,
-            }
-
     # 创建 Group 节点，包含所有 create_resource 节点
     group_node_id = str(uuid.uuid4())
     G.add_node(
@@ -423,44 +395,41 @@ def build_protocol_graph(
         param=None,
     )
 
-    trash_create_node_id = None  # 记录 trash 的 create_resource 节点
+    # 直接使用 JSON 中的 labware 定义，每个 slot 一条记录，type 即 class_name
+    res_index = 0
+    for lw in (labware_defs or []):
+        slot = str(lw.get("slot", ""))
+        if not slot or slot in slot_to_create_resource:
+            continue  # 跳过空 slot 或已处理的 slot
 
-    # 为每个唯一的 slot 创建 create_resource 节点
+        lw_name = lw.get("name", f"slot {slot}")
-    for slot, info in slots_info.items():
+        lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"])
+        res_id = f"plate_slot_{slot}"
+
+        res_index += 1
         node_id = str(uuid.uuid4())
-        res_id = info["res_id"]
-        res_type_name = info["labware"].lower().replace(".", "point")
-        object_type = info.get("object", "")
-        res_type_name = f"lab_{res_type_name}"
-        if object_type == "trash":
-            res_type_name = "PRCXI_trash"
         G.add_node(
             node_id,
             template_name="create_resource",
             resource_name="host_node",
-            name=f"{res_type_name}_slot{slot}",
+            name=lw_name,
-            description=f"Create plate on slot {slot}",
+            description=f"Create {lw_name}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
             device_name=DEVICE_NAME_HOST,
             type=NODE_TYPE_DEFAULT,
-            parent_uuid=group_node_id,  # 指向 Group 节点
+            parent_uuid=group_node_id,
-            minimized=True,  # 折叠显示
+            minimized=True,
             param={
                 "res_id": res_id,
                 "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
-                "class_name": res_type_name,
+                "class_name": lw_type,
-                "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
+                "parent": CREATE_RESOURCE_DEFAULTS["parent_template"],
                 "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
                 "slot_on_deck": slot,
             },
         )
         slot_to_create_resource[slot] = node_id
-        if object_type == "tiprack":
-            resource_last_writer[info["labware_id"]] = f"{node_id}:labware"
-        if object_type == "trash":
-            trash_create_node_id = node_id
-        # create_resource 之间不需要 ready 连接
 
     # ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
     # 创建 Group 节点，包含所有 set_liquid_from_plate 节点
@@ -487,8 +456,7 @@ def build_protocol_graph(
         if item.get("type") == "hardware":
             continue
 
-        object_type = item.get("object", "") or ""
+        slot = str(item.get("slot", ""))
-        slot = _map_deck_slot(str(item.get("slot", "")), object_type)
         wells = item.get("well", [])
         if not wells or not slot:
             continue
@@ -496,7 +464,6 @@ def build_protocol_graph(
         # res_id 不能有空格
         res_id = str(labware_id).replace(" ", "_")
         well_count = len(wells)
-        liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0
 
         node_id = str(uuid.uuid4())
         set_liquid_index += 1
@@ -517,7 +484,7 @@ def build_protocol_graph(
                 "plate": [],  # 通过连接传递
                 "well_names": wells,  # 孔位名数组，如 ["A1", "A3", "A5"]
                 "liquid_names": [res_id] * well_count,
-                "volumes": [liquid_volume] * well_count,
+                "volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
             },
         )
 
@@ -531,12 +498,8 @@ def build_protocol_graph(
         # set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
         resource_last_writer[labware_id] = f"{node_id}:output_wells"
 
-    # 收集所有 create_resource 节点 ID，用于让第一个 transfer_liquid 等待所有资源创建完成
+    # transfer_liquid 之间通过 ready 串联，从 None 开始
-    all_create_resource_node_ids = list(slot_to_create_resource.values())
+    last_control_node_id = None
-
-    # transfer_liquid 之间通过 ready 串联；第一个 transfer_liquid 需要等待所有 create_resource 完成
-    last_control_node_id = trash_create_node_id
-    is_first_action_node = True
 
     # 端口名称映射：JSON 字段名 -> 实际 handle key
     INPUT_PORT_MAPPING = {
@@ -548,7 +511,6 @@ def build_protocol_graph(
         "reagent": "reagent",
         "solvent": "solvent",
         "compound": "compound",
-        "tip_racks": "tip_rack_identifier",
     }
 
     OUTPUT_PORT_MAPPING = {
@@ -563,17 +525,8 @@ def build_protocol_graph(
         "compound": "compound",
     }
 
-    # 需要根据 wells 数量扩展的参数列表：
+    # 需要根据 wells 数量扩展的参数列表（复数形式）
-    # - 复数参数（asp_vols 等）支持单值自动扩展
+    EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
-    # - liquid_height 按 wells 扩展为数组
-    # - mix_* 参数保持标量，避免被转换为 list
-    EXPAND_BY_WELLS_PARAMS = [
-        "asp_vols",
-        "dis_vols",
-        "asp_flow_rates",
-        "dis_flow_rates",
-        "liquid_height",
-    ]
 
     # 处理协议步骤
     for step in protocol_steps:
@@ -587,57 +540,6 @@ def build_protocol_graph(
             if old_name in params:
                 params[new_name] = params.pop(old_name)
 
-        # touch_tip 输入归一化：
-        # - 支持 bool / 0/1 / "true"/"false" / 单元素 list
-        # - 最终统一为 bool 标量，避免被下游误当作序列处理
-        if "touch_tip" in params:
-            touch_tip_value = params.get("touch_tip")
-            if isinstance(touch_tip_value, list):
-                if len(touch_tip_value) == 1:
-                    touch_tip_value = touch_tip_value[0]
-                elif len(touch_tip_value) == 0:
-                    touch_tip_value = False
-                else:
-                    warnings.append(f"touch_tip 期望标量，但收到长度为 {len(touch_tip_value)} 的列表，使用首个值")
-                    touch_tip_value = touch_tip_value[0]
-            if isinstance(touch_tip_value, str):
-                norm = touch_tip_value.strip().lower()
-                if norm in {"true", "1", "yes", "y", "on"}:
-                    touch_tip_value = True
-                elif norm in {"false", "0", "no", "n", "off", ""}:
-                    touch_tip_value = False
-                else:
-                    warnings.append(f"touch_tip 字符串值无法识别: {touch_tip_value}，按 True 处理")
-                    touch_tip_value = True
-            elif isinstance(touch_tip_value, (int, float)):
-                touch_tip_value = bool(touch_tip_value)
-            elif touch_tip_value is None:
-                touch_tip_value = False
-            else:
-                touch_tip_value = bool(touch_tip_value)
-            params["touch_tip"] = touch_tip_value
-
-        # delays 输入归一化：
-        # - 支持标量（int/float/字符串数字）与 list
-        # - 最终统一为数字列表，供下游按 delays[0]/delays[1] 使用
-        if "delays" in params:
-            delays_value = params.get("delays")
-            if delays_value is None or delays_value == "":
-                params["delays"] = []
-            else:
-                raw_list = delays_value if isinstance(delays_value, list) else [delays_value]
-                normalized_delays = []
-                for delay_item in raw_list:
-                    if isinstance(delay_item, str):
-                        delay_item = delay_item.strip()
-                        if delay_item == "":
-                            continue
-                    try:
-                        normalized_delays.append(float(delay_item))
-                    except (TypeError, ValueError):
-                        warnings.append(f"delays 包含无法转换为数字的值: {delay_item}，已忽略")
-                params["delays"] = normalized_delays
-
         # 处理输入连接
         for param_key, target_port in INPUT_PORT_MAPPING.items():
             resource_name = params.get(param_key)
@@ -704,12 +606,7 @@ def build_protocol_graph(
         G.add_node(node_id, **step_copy)
 
         # 控制流
-        if is_first_action_node:
+        if last_control_node_id is not None:
-            # 第一个 transfer_liquid 需要等待所有 create_resource 完成
-            for cr_node_id in all_create_resource_node_ids:
-                G.add_edge(cr_node_id, node_id, source_port="ready", target_port="ready")
-            is_first_action_node = False
-        elif last_control_node_id is not None:
             G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
         last_control_node_id = node_id