new registry sys

exp. support with add device
add ai conventions
2026-03-28 06:13:11 +00:00 · 2026-03-21 19:26:24 +08:00 · 2026-03-19 14:14:40 +08:00 · 2026-03-10 16:26:37 +08:00 · 2026-03-10 16:04:27 +08:00 · 2026-03-10 16:00:24 +08:00
69 changed files with 5690 additions and 9021 deletions
--- a/.cursor/rules/device-drivers.mdc
+++ b/.cursor/rules/device-drivers.mdc
@@ -1,328 +0,0 @@
 ---
 description: 设备驱动开发规范
 globs: ["unilabos/devices/**/*.py"]
 ---
 # 设备驱动开发规范
 ## 目录结构
 ```
 unilabos/devices/
 ├── virtual/           # 虚拟设备（用于测试）
 │   ├── virtual_stirrer.py
 │   └── virtual_centrifuge.py
 ├── liquid_handling/   # 液体处理设备
 ├── balance/           # 天平设备
 ├── hplc/              # HPLC设备
 ├── pump_and_valve/    # 泵和阀门
 ├── temperature/       # 温度控制设备
 ├── workstation/       # 工作站（组合设备）
 └── ...
 ```
 ## 设备类完整模板
 ```python
 import asyncio
 import logging
 import time as time_module
 from typing import Dict, Any, Optional
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class MyDevice:
    """
    设备类描述
    Attributes:
        device_id: 设备唯一标识
        config: 设备配置字典
        data: 设备状态数据
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(
        self,
        device_id: str = None,
        config: Dict[str, Any] = None,
        **kwargs
    ):
        """
        初始化设备
        Args:
            device_id: 设备ID
            config: 配置字典
            **kwargs: 其他参数
        """
        # 兼容不同调用方式
        if device_id is None and 'id' in kwargs:
            device_id = kwargs.pop('id')
        if config is None and 'config' in kwargs:
            config = kwargs.pop('config')
        self.device_id = device_id or "unknown_device"
        self.config = config or {}
        self.data = {}
        # 从config读取参数
        self.port = self.config.get('port') or kwargs.get('port', 'COM1')
        self._max_value = self.config.get('max_value', 1000.0)
        # 初始化日志
        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
        self.logger.info(f"设备 {self.device_id} 已创建")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        """
        ROS节点注入 - 在ROS节点创建后调用
        Args:
            ros_node: ROS2设备节点实例
        """
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """
        初始化设备 - 连接硬件、设置初始状态
        Returns:
            bool: 初始化是否成功
        """
        self.logger.info(f"初始化设备 {self.device_id}")
        try:
            # 执行硬件初始化
            # await self._connect_hardware()
            # 设置初始状态
            self.data.update({
                "status": "待机",
                "is_running": False,
                "current_value": 0.0,
            })
            self.logger.info(f"设备 {self.device_id} 初始化完成")
            return True
        except Exception as e:
            self.logger.error(f"初始化失败: {e}")
            self.data["status"] = f"错误: {e}"
            return False
    async def cleanup(self) -> bool:
        """
        清理设备 - 断开连接、释放资源
        Returns:
            bool: 清理是否成功
        """
        self.logger.info(f"清理设备 {self.device_id}")
        self.data.update({
            "status": "离线",
            "is_running": False,
        })
        return True
    # ==================== 设备动作 ====================
    async def execute_action(
        self,
        param1: float,
        param2: str = "",
        **kwargs
    ) -> bool:
        """
        执行设备动作
        Args:
            param1: 参数1
            param2: 参数2（可选）
        Returns:
            bool: 动作是否成功
        """
        # 类型转换和验证
        try:
            param1 = float(param1)
        except (ValueError, TypeError) as e:
            self.logger.error(f"参数类型错误: {e}")
            return False
        # 参数验证
        if param1 > self._max_value:
            self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
            return False
        self.logger.info(f"执行动作: param1={param1}, param2={param2}")
        # 更新状态
        self.data.update({
            "status": "运行中",
            "is_running": True,
        })
        # 执行动作（带进度反馈）
        duration = 10.0  # 秒
        start_time = time_module.time()
        while True:
            elapsed = time_module.time() - start_time
            remaining = max(0, duration - elapsed)
            progress = min(100, (elapsed / duration) * 100)
            self.data.update({
                "status": f"运行中: {progress:.0f}%",
                "remaining_time": remaining,
            })
            if remaining <= 0:
                break
            await self._ros_node.sleep(1.0)
        # 完成
        self.data.update({
            "status": "完成",
            "is_running": False,
        })
        self.logger.info("动作执行完成")
        return True
    # ==================== 状态属性 ====================
    @property
    def status(self) -> str:
        """设备状态 - 自动发布为ROS Topic"""
        return self.data.get("status", "未知")
    @property
    def is_running(self) -> bool:
        """是否正在运行"""
        return self.data.get("is_running", False)
    @property
    def current_value(self) -> float:
        """当前值"""
        return self.data.get("current_value", 0.0)
    # ==================== 辅助方法 ====================
    def get_device_info(self) -> Dict[str, Any]:
        """获取设备信息"""
        return {
            "device_id": self.device_id,
            "status": self.status,
            "is_running": self.is_running,
            "current_value": self.current_value,
        }
    def __str__(self) -> str:
        return f"MyDevice({self.device_id}: {self.status})"
 ```
 ## 关键规则
 ### 1. 参数处理
 所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
 ```python
 async def my_action(self, value: float, **kwargs) -> bool:
    # 始终进行类型转换
    try:
        value = float(value)
    except (ValueError, TypeError) as e:
        self.logger.error(f"参数类型错误: {e}")
        return False
 ```
 ### 2. vessel 参数处理
 vessel 参数可能是字符串ID或字典：
 ```python
 def extract_vessel_id(vessel: Union[str, dict]) -> str:
    if isinstance(vessel, dict):
        return vessel.get("id", "")
    return str(vessel) if vessel else ""
 ```
 ### 3. 状态更新
 使用 `self.data` 字典存储状态，属性读取状态：
 ```python
 # 更新状态
 self.data["status"] = "运行中"
 self.data["current_speed"] = 300.0
 # 读取状态（通过属性）
@property
 def status(self) -> str:
    return self.data.get("status", "待机")
 ```
 ### 4. 异步等待
 使用 ROS 节点的 sleep 方法：
 ```python
 # 正确
 await self._ros_node.sleep(1.0)
 # 避免（除非在纯 Python 测试环境）
 await asyncio.sleep(1.0)
 ```
 ### 5. 进度反馈
 长时间运行的操作需要提供进度反馈：
 ```python
 while remaining > 0:
    progress = (elapsed / total_time) * 100
    self.data["status"] = f"运行中: {progress:.0f}%"
    self.data["remaining_time"] = remaining
    await self._ros_node.sleep(1.0)
 ```
 ## 虚拟设备
 虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
 - 类名以 `Virtual` 开头
 - 文件名以 `virtual_` 开头
 - 模拟真实设备的行为和时序
 - 使用表情符号增强日志可读性（可选）
 ## 工作站设备
 工作站是组合多个设备的复杂设备：
 ```python
 from unilabos.devices.workstation.workstation_base import WorkstationBase
 class MyWorkstation(WorkstationBase):
    """组合工作站"""
    async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
        """执行工作流"""
        pass
 ```
 ## 设备注册
 设备类开发完成后，需要在注册表中注册：
 1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
 2. 添加设备配置（参考 `virtual_device.yaml`）
 3. 运行 `--complete_registry` 自动生成 schema
--- a/.cursor/rules/protocol-development.mdc
+++ b/.cursor/rules/protocol-development.mdc
@@ -1,240 +0,0 @@
 ---
 description: 协议编译器开发规范
 globs: ["unilabos/compile/**/*.py"]
 ---
 # 协议编译器开发规范
 ## 概述
 协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
 ## 文件命名
 - 位置: `unilabos/compile/`
 - 命名: `{operation}_protocol.py`
 - 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
 ## 协议函数模板
 ```python
 from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
 from .utils.unit_parser import parse_time_input
 from .utils.vessel_parser import extract_vessel_id
 logger = logging.getLogger(__name__)
 def generate_{operation}_protocol(
    G: nx.DiGraph,
    vessel: Union[str, dict],
    param1: Union[str, float] = "0",
    param2: float = 0.0,
    **kwargs
 ) -> List[Dict[str, Any]]:
    """
    生成{操作}协议序列
    Args:
        G: 物理拓扑图 (NetworkX DiGraph)
        vessel: 容器ID或Resource字典
        param1: 参数1（支持字符串单位，如 "5 min"）
        param2: 参数2
        **kwargs: 其他参数
    Returns:
        List[Dict]: 动作序列
    Raises:
        ValueError: 参数无效时
    """
    # 1. 提取 vessel_id
    vessel_id = extract_vessel_id(vessel)
    # 2. 验证参数
    if not vessel_id:
        raise ValueError("vessel 参数不能为空")
    if vessel_id not in G.nodes():
        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
    # 3. 解析参数（支持单位）
    parsed_param1 = parse_time_input(param1)  # "5 min" -> 300.0
    # 4. 查找设备
    device_id = find_connected_device(G, vessel_id, device_type="my_device")
    # 5. 生成动作序列
    action_sequence = []
    action = {
        "device_id": device_id,
        "action_name": "my_action",
        "action_kwargs": {
            "vessel": {"id": vessel_id},  # 始终使用字典格式
            "param1": float(parsed_param1),
            "param2": float(param2),
        }
    }
    action_sequence.append(action)
    logger.info(f"生成协议: {len(action_sequence)} 个动作")
    return action_sequence
 def find_connected_device(
    G: nx.DiGraph,
    vessel_id: str,
    device_type: str = ""
 ) -> str:
    """
    查找与容器相连的设备
    Args:
        G: 拓扑图
        vessel_id: 容器ID
        device_type: 设备类型关键字
    Returns:
        str: 设备ID
    """
    # 查找所有匹配类型的设备
    device_nodes = []
    for node in G.nodes():
        node_class = G.nodes[node].get('class', '') or ''
        if device_type.lower() in node_class.lower():
            device_nodes.append(node)
    # 检查连接
    if vessel_id and device_nodes:
        for device in device_nodes:
            if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
                return device
    # 返回第一个可用设备
    if device_nodes:
        return device_nodes[0]
    # 默认设备
    return f"{device_type}_1"
 ```
 ## 关键规则
 ### 1. vessel 参数处理
 vessel 参数可能是字符串或字典，需要统一处理：
 ```python
 def extract_vessel_id(vessel: Union[str, dict]) -> str:
    """提取vessel_id"""
    if isinstance(vessel, dict):
        # 可能是 {"id": "xxx"} 或完整 Resource 对象
        return vessel.get("id", list(vessel.values())[0].get("id", ""))
    return str(vessel) if vessel else ""
 ```
 ### 2. action_kwargs 中的 vessel
 始终使用 `{"id": vessel_id}` 格式传递 vessel：
 ```python
 # 正确
 "action_kwargs": {
    "vessel": {"id": vessel_id},  # 字符串ID包装为字典
 }
 # 避免
 "action_kwargs": {
    "vessel": vessel_resource,  # 不要传递完整 Resource 对象
 }
 ```
 ### 3. 单位解析
 使用 `parse_time_input` 解析时间参数：
 ```python
 from .utils.unit_parser import parse_time_input
 # 支持格式: "5 min", "1 h", "300", "1.5 hours"
 time_seconds = parse_time_input("5 min")  # -> 300.0
 time_seconds = parse_time_input(120)      # -> 120.0
 time_seconds = parse_time_input("1 h")    # -> 3600.0
 ```
 ### 4. 参数验证
 所有参数必须进行验证和类型转换：
 ```python
 # 验证范围
 if speed < 10.0 or speed > 1500.0:
    logger.warning(f"速度 {speed} 超出范围，修正为 300")
    speed = 300.0
 # 类型转换
 param = float(param) if not isinstance(param, (int, float)) else param
 ```
 ### 5. 日志记录
 使用项目日志记录器：
 ```python
 logger = logging.getLogger(__name__)
 def generate_protocol(...):
    logger.info(f"开始生成协议...")
    logger.debug(f"参数: vessel={vessel_id}, time={time}")
    logger.warning(f"参数修正: {old_value} -> {new_value}")
 ```
 ## 便捷函数
 为常用操作提供便捷函数：
 ```python
 def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
                speed: float = 300.0) -> List[Dict[str, Any]]:
    """短时间搅拌（30秒）"""
    return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
 def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
                   time: str = "5 min") -> List[Dict[str, Any]]:
    """剧烈搅拌"""
    return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
 ```
 ## 测试函数
 每个协议文件应包含测试函数：
 ```python
 def test_{operation}_protocol():
    """测试协议生成"""
    # 测试参数处理
    vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
    vessel_id = extract_vessel_id(vessel_dict)
    assert vessel_id == "flask_1"
    # 测试单位解析
    time_s = parse_time_input("5 min")
    assert time_s == 300.0
 if __name__ == "__main__":
    test_{operation}_protocol()
 ```
 ## 现有协议参考
 - `stir_protocol.py` - 搅拌操作
 - `add_protocol.py` - 添加物料
 - `filter_protocol.py` - 过滤操作
 - `heatchill_protocol.py` - 加热/冷却
 - `separate_protocol.py` - 分离操作
 - `evaporate_protocol.py` - 蒸发操作
--- a/.cursor/rules/registry-config.mdc
+++ b/.cursor/rules/registry-config.mdc
@@ -1,319 +0,0 @@
 ---
 description: 注册表配置规范 (YAML)
 globs: ["unilabos/registry/**/*.yaml"]
 ---
 # 注册表配置规范
 ## 概述
 注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
 ## 目录结构
 ```
 unilabos/registry/
 ├── devices/              # 设备类型注册
 │   ├── virtual_device.yaml
 │   ├── liquid_handler.yaml
 │   └── ...
 ├── device_comms/         # 通信设备配置
 │   ├── communication_devices.yaml
 │   └── modbus_ioboard.yaml
 └── resources/            # 资源类型注册
    ├── bioyond/
    ├── organic/
    ├── opentrons/
    └── ...
 ```
 ## 设备注册表格式
 ### 基本结构
 ```yaml
 device_type_id:
  # 基本信息
  description: "设备描述"
  version: "1.0.0"
  category:
    - category_name
  icon: "icon_device.webp"
  # 类配置
  class:
    module: "unilabos.devices.my_module:MyClass"
    type: python
    # 状态类型（属性 -> ROS消息类型）
    status_types:
      status: String
      temperature: Float64
      is_running: Bool
    # 动作映射
    action_value_mappings:
      action_name:
        type: UniLabJsonCommand  # 或 UniLabJsonCommandAsync
        goal: {}
        feedback: {}
        result: {}
        schema: {...}
        handles: {}
 ```
 ### action_value_mappings 详细格式
 ```yaml
 action_value_mappings:
  # 同步动作
  my_sync_action:
    type: UniLabJsonCommand
    goal:
      param1: param1
      param2: param2
    feedback: {}
    result:
      success: success
      message: message
    goal_default:
      param1: 0.0
      param2: ""
    handles: {}
    placeholder_keys:
      device_param: unilabos_devices   # 设备选择器
      resource_param: unilabos_resources  # 资源选择器
    schema:
      title: "动作名称参数"
      description: "动作描述"
      type: object
      properties:
        goal:
          type: object
          properties:
            param1:
              type: number
            param2:
              type: string
          required:
            - param1
        feedback: {}
        result:
          type: object
          properties:
            success:
              type: boolean
            message:
              type: string
      required:
        - goal
  # 异步动作
  my_async_action:
    type: UniLabJsonCommandAsync
    goal: {}
    feedback:
      progress: progress
      current_status: status
    result:
      success: success
    schema: {...}
 ```
 ### 自动生成的动作
 以 `auto-` 开头的动作由系统自动生成：
 ```yaml
 action_value_mappings:
  auto-initialize:
    type: UniLabJsonCommandAsync
    goal: {}
    feedback: {}
    result: {}
    schema: {...}
  auto-cleanup:
    type: UniLabJsonCommandAsync
    goal: {}
    feedback: {}
    result: {}
    schema: {...}
 ```
 ### handles 配置
 用于工作流编辑器中的数据流连接：
 ```yaml
 handles:
  input:
    - handler_key: "input_resource"
      data_type: "resource"
      label: "输入资源"
      data_source: "handle"
      data_key: "resources"
  output:
    - handler_key: "output_labware"
      data_type: "resource"
      label: "输出器皿"
      data_source: "executor"
      data_key: "created_resource.@flatten"
 ```
 ## 资源注册表格式
 ```yaml
 resource_type_id:
  description: "资源描述"
  version: "1.0.0"
  category:
    - category_name
  icon: ""
  handles: []
  init_param_schema: {}
  class:
    module: "unilabos.resources.my_module:MyResource"
    type: pylabrobot  # 或 python
 ```
 ### PyLabRobot 资源示例
 ```yaml
 BIOYOND_Electrolyte_6VialCarrier:
  category:
    - bottle_carriers
    - bioyond
  class:
    module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
    type: pylabrobot
  version: "1.0.0"
 ```
 ## 状态类型映射
 Python 类型到 ROS 消息类型的映射：
 | Python 类型 | ROS 消息类型 |
 |------------|-------------|
 | `str` | `String` |
 | `bool` | `Bool` |
 | `int` | `Int64` |
 | `float` | `Float64` |
 | `list` | `String` (序列化) |
 | `dict` | `String` (序列化) |
 ## 自动完善注册表
 使用 `--complete_registry` 参数自动生成 schema：
 ```bash
 python -m unilabos.app.main --complete_registry
 ```
 这会：
 1. 扫描设备类的方法签名
 2. 自动生成 `auto-` 前缀的动作
 3. 生成 JSON Schema
 4. 更新 YAML 文件
 ## 验证规则
 1. **device_type_id** 必须唯一
 2. **module** 路径必须正确可导入
 3. **status_types** 的类型必须是有效的 ROS 消息类型
 4. **schema** 必须是有效的 JSON Schema
 ## 示例：完整设备配置
 ```yaml
 virtual_stirrer:
  category:
    - virtual_device
  description: "虚拟搅拌器设备"
  version: "1.0.0"
  icon: "icon_stirrer.webp"
  handles: []
  init_param_schema: {}
  class:
    module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
    type: python
    status_types:
      status: String
      operation_mode: String
      current_speed: Float64
      is_stirring: Bool
      remaining_time: Float64
    action_value_mappings:
      auto-initialize:
        type: UniLabJsonCommandAsync
        goal: {}
        feedback: {}
        result: {}
        schema:
          title: "initialize参数"
          type: object
          properties:
            goal:
              type: object
              properties: {}
            feedback: {}
            result: {}
          required:
            - goal
      stir:
        type: UniLabJsonCommandAsync
        goal:
          stir_time: stir_time
          stir_speed: stir_speed
          settling_time: settling_time
        feedback:
          current_speed: current_speed
          remaining_time: remaining_time
        result:
          success: success
        goal_default:
          stir_time: 60.0
          stir_speed: 300.0
          settling_time: 30.0
        handles: {}
        schema:
          title: "stir参数"
          description: "搅拌操作"
          type: object
          properties:
            goal:
              type: object
              properties:
                stir_time:
                  type: number
                  description: "搅拌时间（秒）"
                stir_speed:
                  type: number
                  description: "搅拌速度（RPM）"
                settling_time:
                  type: number
                  description: "沉降时间（秒）"
              required:
                - stir_time
                - stir_speed
            feedback:
              type: object
              properties:
                current_speed:
                  type: number
                remaining_time:
                  type: number
            result:
              type: object
              properties:
                success:
                  type: boolean
          required:
            - goal
 ```
--- a/.cursor/rules/ros-integration.mdc
+++ b/.cursor/rules/ros-integration.mdc
@@ -1,233 +0,0 @@
 ---
 description: ROS 2 集成开发规范
 globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
 ---
 # ROS 2 集成开发规范
 ## 概述
 Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
 ## 核心组件
 ### BaseROS2DeviceNode
 设备节点基类，提供：
 - ROS Topic 自动发布（状态属性）
 - Action Server 自动创建（设备动作）
 - 资源管理服务
 - 异步任务调度
 ```python
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 ```
 ### 消息转换器
 ```python
 from unilabos.ros.msgs.message_converter import (
    convert_to_ros_msg,
    convert_from_ros_msg_with_mapping,
    msg_converter_manager,
    ros_action_to_json_schema,
    ros_message_to_json_schema,
 )
 ```
 ## 设备与 ROS 集成
 ### post_init 方法
 设备类必须实现 `post_init` 方法接收 ROS 节点：
 ```python
 class MyDevice:
    _ros_node: BaseROS2DeviceNode
    def post_init(self, ros_node: BaseROS2DeviceNode):
        """ROS节点注入"""
        self._ros_node = ros_node
 ```
 ### 状态属性发布
 设备的 `@property` 属性会自动发布为 ROS Topic：
 ```python
 class MyDevice:
    @property
    def temperature(self) -> float:
        return self._temperature
    # 自动发布到 /{namespace}/temperature Topic
 ```
 ### Topic 配置装饰器
 ```python
 from unilabos.utils.decorator import topic_config
 class MyDevice:
    @property
    @topic_config(period=1.0, print_publish=False, qos=10)
    def fast_data(self) -> float:
        """高频数据 - 每秒发布一次"""
        return self._fast_data
    @property
    @topic_config(period=5.0)
    def slow_data(self) -> str:
        """低频数据 - 每5秒发布一次"""
        return self._slow_data
 ```
 ### 订阅装饰器
 ```python
 from unilabos.utils.decorator import subscribe
 class MyDevice:
    @subscribe(topic="/external/sensor_data", qos=10)
    def on_sensor_data(self, msg):
        """订阅外部Topic"""
        self._sensor_value = msg.data
 ```
 ## 异步操作
 ### 使用 ROS 节点睡眠
 ```python
 # 推荐：使用ROS节点的睡眠方法
 await self._ros_node.sleep(1.0)
 # 不推荐：直接使用asyncio（可能导致回调阻塞）
 await asyncio.sleep(1.0)
 ```
 ### 获取事件循环
 ```python
 from unilabos.ros.x.rclpyx import get_event_loop
 loop = get_event_loop()
 ```
 ## 消息类型
 ### unilabos_msgs 包
 ```python
 from unilabos_msgs.msg import Resource
 from unilabos_msgs.srv import (
    ResourceAdd,
    ResourceDelete,
    ResourceUpdate,
    ResourceList,
    SerialCommand,
 )
 from unilabos_msgs.action import SendCmd
 ```
 ### Resource 消息结构
 ```python
 Resource:
    id: str
    name: str
    category: str
    type: str
    parent: str
    children: List[str]
    config: str  # JSON字符串
    data: str    # JSON字符串
    sample_id: str
    pose: Pose
 ```
 ## 日志适配器
 ```python
 from unilabos.utils.log import info, debug, warning, error, trace
 class MyDevice:
    def __init__(self):
        # 创建设备专属日志器
        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
 ```
 ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
 ## Action Server
 设备动作自动创建为 ROS Action Server：
 ```yaml
 # 在注册表中配置
 action_value_mappings:
  my_action:
    type: UniLabJsonCommandAsync  # 异步Action
    goal: {...}
    feedback: {...}
    result: {...}
 ```
 ### Action 类型
 - **UniLabJsonCommand**: 同步动作
 - **UniLabJsonCommandAsync**: 异步动作（支持feedback）
 ## 服务客户端
 ```python
 from rclpy.client import Client
 # 调用其他节点的服务
 response = await self._ros_node.call_service(
    service_name="/other_node/service",
    request=MyServiceRequest(...)
 )
 ```
 ## 命名空间
 设备节点使用命名空间隔离：
 ```
 /{device_id}/                 # 设备命名空间
 /{device_id}/status          # 状态Topic
 /{device_id}/temperature     # 温度Topic
 /{device_id}/my_action       # 动作Server
 ```
 ## 调试
 ### 查看 Topic
 ```bash
 ros2 topic list
 ros2 topic echo /{device_id}/status
 ```
 ### 查看 Action
 ```bash
 ros2 action list
 ros2 action info /{device_id}/my_action
 ```
 ### 查看 Service
 ```bash
 ros2 service list
 ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
 ```
 ## 最佳实践
 1. **状态属性命名**: 使用蛇形命名法（snake_case）
 2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
 3. **Action 反馈**: 长时间操作提供进度反馈
 4. **错误处理**: 使用 try-except 捕获并记录错误
 5. **资源清理**: 在 cleanup 方法中正确清理资源
--- a/.cursor/rules/testing-patterns.mdc
+++ b/.cursor/rules/testing-patterns.mdc
@@ -1,357 +0,0 @@
 ---
 description: 测试开发规范
 globs: ["tests/**/*.py", "**/test_*.py"]
 ---
 # 测试开发规范
 ## 目录结构
 ```
 tests/
 ├── __init__.py
 ├── devices/              # 设备测试
 │   └── liquid_handling/
 │       └── test_transfer_liquid.py
 ├── resources/            # 资源测试
 │   ├── test_bottle_carrier.py
 │   └── test_resourcetreeset.py
 ├── ros/                  # ROS消息测试
 │   └── msgs/
 │       ├── test_basic.py
 │       ├── test_conversion.py
 │       └── test_mapping.py
 └── workflow/             # 工作流测试
    └── merge_workflow.py
 ```
 ## 测试框架
 使用 pytest 作为测试框架：
 ```bash
 # 运行所有测试
 pytest tests/
 # 运行特定测试文件
 pytest tests/resources/test_bottle_carrier.py
 # 运行特定测试函数
 pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
 # 显示详细输出
 pytest -v tests/
 # 显示打印输出
 pytest -s tests/
 ```
 ## 测试文件模板
 ```python
 import pytest
 from typing import List, Dict, Any
 # 导入被测试的模块
 from unilabos.resources.bioyond.bottle_carriers import (
    BIOYOND_Electrolyte_6VialCarrier,
 )
 from unilabos.resources.bioyond.bottles import (
    BIOYOND_PolymerStation_Solid_Vial,
 )
 class TestBottleCarrier:
    """BottleCarrier 测试类"""
    def setup_method(self):
        """每个测试方法前执行"""
        self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
    def teardown_method(self):
        """每个测试方法后执行"""
        pass
    def test_carrier_creation(self):
        """测试载架创建"""
        assert self.carrier.name == "test_carrier"
        assert len(self.carrier.sites) == 6
    def test_bottle_placement(self):
        """测试瓶子放置"""
        bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
        # 测试逻辑...
        assert bottle.name == "test_bottle"
 def test_standalone_function():
    """独立测试函数"""
    result = some_function()
    assert result is True
 # 参数化测试
@pytest.mark.parametrize("input,expected", [
    ("5 min", 300.0),
    ("1 h", 3600.0),
    ("120", 120.0),
    (60, 60.0),
 ])
 def test_time_parsing(input, expected):
    """测试时间解析"""
    from unilabos.compile.utils.unit_parser import parse_time_input
    assert parse_time_input(input) == expected
 # 异常测试
 def test_invalid_input_raises_error():
    """测试无效输入抛出异常"""
    with pytest.raises(ValueError) as exc_info:
        invalid_function("bad_input")
    assert "invalid" in str(exc_info.value).lower()
 # 跳过条件测试
@pytest.mark.skipif(
    not os.environ.get("ROS_DISTRO"),
    reason="需要ROS环境"
 )
 def test_ros_feature():
    """需要ROS环境的测试"""
    pass
 ```
 ## 设备测试
 ### 虚拟设备测试
 ```python
 import pytest
 import asyncio
 from unittest.mock import MagicMock, AsyncMock
 from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
 class TestVirtualStirrer:
    """VirtualStirrer 测试"""
    @pytest.fixture
    def stirrer(self):
        """创建测试用搅拌器"""
        device = VirtualStirrer(
            device_id="test_stirrer",
            config={"max_speed": 1500.0, "min_speed": 50.0}
        )
        # Mock ROS节点
        mock_node = MagicMock()
        mock_node.sleep = AsyncMock(return_value=None)
        device.post_init(mock_node)
        return device
    @pytest.mark.asyncio
    async def test_initialize(self, stirrer):
        """测试初始化"""
        result = await stirrer.initialize()
        assert result is True
        assert stirrer.status == "待机中"
    @pytest.mark.asyncio
    async def test_stir_action(self, stirrer):
        """测试搅拌动作"""
        await stirrer.initialize()
        result = await stirrer.stir(
            stir_time=5.0,
            stir_speed=300.0,
            settling_time=2.0
        )
        assert result is True
        assert stirrer.operation_mode == "Completed"
    @pytest.mark.asyncio
    async def test_stir_invalid_speed(self, stirrer):
        """测试无效速度"""
        await stirrer.initialize()
        # 速度超出范围
        result = await stirrer.stir(
            stir_time=5.0,
            stir_speed=2000.0,  # 超过max_speed
            settling_time=0.0
        )
        assert result is False
        assert "错误" in stirrer.status
 ```
 ### 异步测试配置
 ```python
 # conftest.py
 import pytest
 import asyncio
@pytest.fixture(scope="session")
 def event_loop():
    """创建事件循环"""
    loop = asyncio.get_event_loop_policy().new_event_loop()
    yield loop
    loop.close()
 ```
 ## 资源测试
 ```python
 import pytest
 from unilabos.resources.resource_tracker import (
    ResourceTreeSet,
    ResourceTreeInstance,
 )
 def test_resource_tree_creation():
    """测试资源树创建"""
    tree_set = ResourceTreeSet()
    # 添加资源
    resource = {"id": "res_1", "name": "Resource 1"}
    tree_set.add_resource(resource)
    # 验证
    assert len(tree_set.all_nodes) == 1
    assert tree_set.get_resource("res_1") is not None
 def test_resource_tree_merge():
    """测试资源树合并"""
    local_set = ResourceTreeSet()
    remote_set = ResourceTreeSet()
    # 设置数据...
    local_set.merge_remote_resources(remote_set)
    # 验证合并结果...
 ```
 ## ROS 消息测试
 ```python
 import pytest
 from unilabos.ros.msgs.message_converter import (
    convert_to_ros_msg,
    convert_from_ros_msg_with_mapping,
    msg_converter_manager,
 )
 def test_message_conversion():
    """测试消息转换"""
    # Python -> ROS
    python_data = {"id": "test", "value": 42}
    ros_msg = convert_to_ros_msg(python_data, MyMsgType)
    assert ros_msg.id == "test"
    assert ros_msg.value == 42
    # ROS -> Python
    result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
    assert result["id"] == "test"
 ```
 ## 协议测试
 ```python
 import pytest
 import networkx as nx
 from unilabos.compile.stir_protocol import (
    generate_stir_protocol,
    extract_vessel_id,
 )
@pytest.fixture
 def topology_graph():
    """创建测试拓扑图"""
    G = nx.DiGraph()
    G.add_node("flask_1", **{"class": "flask"})
    G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
    G.add_edge("stirrer_1", "flask_1")
    return G
 def test_generate_stir_protocol(topology_graph):
    """测试搅拌协议生成"""
    actions = generate_stir_protocol(
        G=topology_graph,
        vessel="flask_1",
        time="5 min",
        stir_speed=300.0
    )
    assert len(actions) == 1
    assert actions[0]["device_id"] == "stirrer_1"
    assert actions[0]["action_name"] == "stir"
 def test_extract_vessel_id():
    """测试vessel_id提取"""
    # 字典格式
    assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
    # 字符串格式
    assert extract_vessel_id("flask_2") == "flask_2"
    # 空值
    assert extract_vessel_id("") == ""
 ```
 ## 测试标记
 ```python
 # 慢速测试
@pytest.mark.slow
 def test_long_running():
    pass
 # 需要网络
@pytest.mark.network
 def test_network_call():
    pass
 # 需要ROS
@pytest.mark.ros
 def test_ros_feature():
    pass
 ```
 运行特定标记的测试：
 ```bash
 pytest -m "not slow"  # 排除慢速测试
 pytest -m ros         # 仅ROS测试
 ```
 ## 覆盖率
 ```bash
 # 生成覆盖率报告
 pytest --cov=unilabos tests/
 # HTML报告
 pytest --cov=unilabos --cov-report=html tests/
 ```
 ## 最佳实践
 1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
 2. **独立性**: 每个测试独立运行，不依赖其他测试
 3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
 4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
 5. **fixtures**: 使用 fixtures 共享测试设置
 6. **断言清晰**: 每个断言只验证一件事
--- a/.cursor/rules/unilabos-project.mdc
+++ b/.cursor/rules/unilabos-project.mdc
@@ -1,353 +0,0 @@
 ---
 description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
 globs: ["**/*.py", "**/*.yaml", "**/*.json"]
 ---
 # Uni-Lab-OS 项目开发规范
 ## 项目概述
 Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
 ## 技术栈
 - **Python 3.11** - 核心开发语言
 - **ROS 2** - 设备通信中间件 (rclpy)
 - **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
 - **FastAPI** - Web API 服务
 - **WebSocket** - 实时通信
 - **NetworkX** - 拓扑图管理
 - **YAML** - 配置和注册表定义
 - **PyLabRobot** - 实验室自动化库集成
 - **pytest** - 测试框架
 - **asyncio** - 异步编程
 ## 项目结构
 ```
 unilabos/
 ├── app/           # 应用入口、Web服务、后端
 ├── compile/       # 协议编译器 (stir, add, filter 等)
 ├── config/        # 配置管理
 ├── devices/       # 设备驱动 (真实/虚拟)
 ├── device_comms/  # 设备通信协议
 ├── device_mesh/   # 3D网格和可视化
 ├── registry/      # 设备和资源类型注册表 (YAML)
 ├── resources/     # 资源定义
 ├── ros/           # ROS 2 集成
 ├── utils/         # 工具函数
 └── workflow/      # 工作流管理
 ```
 ## 代码规范
 ### Python 风格
 1. **类型注解**：所有函数必须使用类型注解
   ```python
   def transfer_liquid(
       source: str,
       destination: str,
       volume: float,
       **kwargs
   ) -> List[Dict[str, Any]]:
   ```
 2. **Docstring**：使用 Google 风格的文档字符串
   ```python
   def initialize(self) -> bool:
       """
       初始化设备
       Returns:
           bool: 初始化是否成功
       """
   ```
 3. **导入顺序**：
   - 标准库
   - 第三方库
   - ROS 相关 (rclpy, unilabos_msgs)
   - 项目内部模块
 ### 异步编程
 1. 设备操作方法使用 `async def`
 2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
 3. 长时间运行操作需提供进度反馈
 ```python
 async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
    """执行搅拌操作"""
    start_time = time_module.time()
    while True:
        elapsed = time_module.time() - start_time
        remaining = max(0, stir_time - elapsed)
        self.data.update({
            "remaining_time": remaining,
            "status": f"搅拌中: {stir_speed} RPM"
        })
        if remaining <= 0:
            break
        await self._ros_node.sleep(1.0)
    return True
 ```
 ### 日志规范
 使用项目自定义日志系统：
 ```python
 from unilabos.utils.log import logger, info, debug, warning, error, trace
 # 在设备类中使用
 self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
 self.logger.info("设备初始化完成")
 ```
 ## 设备驱动开发
 ### 设备类结构
 ```python
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class MyDevice:
    """设备驱动类"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        self.device_id = device_id or "unknown_device"
        self.config = config or {}
        self.data = {}  # 设备状态数据
    def post_init(self, ros_node: BaseROS2DeviceNode):
        """ROS节点注入"""
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """初始化设备"""
        pass
    async def cleanup(self) -> bool:
        """清理设备"""
        pass
    # 状态属性 - 自动发布为 ROS Topic
    @property
    def status(self) -> str:
        return self.data.get("status", "待机")
 ```
 ### 状态属性装饰器
 ```python
 from unilabos.utils.decorator import topic_config
 class MyDevice:
    @property
    @topic_config(period=1.0, qos=10)  # 每秒发布一次
    def temperature(self) -> float:
        return self._temperature
 ```
 ### 虚拟设备
 虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
 ## 注册表配置
 ### 设备注册表 (YAML)
 位置: `unilabos/registry/devices/*.yaml`
 ```yaml
 my_device_type:
  category:
    - my_category
  description: "设备描述"
  version: "1.0.0"
  class:
    module: "unilabos.devices.my_device:MyDevice"
    type: python
    status_types:
      status: String
      temperature: Float64
    action_value_mappings:
      auto-initialize:
        type: UniLabJsonCommandAsync
        goal: {}
        feedback: {}
        result: {}
        schema: {...}
 ```
 ### 资源注册表 (YAML)
 位置: `unilabos/registry/resources/**/*.yaml`
 ```yaml
 my_container:
  category:
    - container
  class:
    module: "unilabos.resources.my_resource:MyContainer"
    type: pylabrobot
  version: "1.0.0"
 ```
 ## 协议编译器
 位置: `unilabos/compile/*_protocol.py`
 ### 协议生成函数模板
 ```python
 from typing import List, Dict, Any, Union
 import networkx as nx
 def generate_my_protocol(
    G: nx.DiGraph,
    vessel: Union[str, dict],
    param1: float = 0.0,
    **kwargs
 ) -> List[Dict[str, Any]]:
    """
    生成操作协议序列
    Args:
        G: 物理拓扑图
        vessel: 容器ID或字典
        param1: 参数1
    Returns:
        List[Dict]: 动作序列
    """
    # 提取vessel_id
    vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
    # 查找设备
    device_id = find_connected_device(G, vessel_id)
    # 生成动作
    action_sequence = [{
        "device_id": device_id,
        "action_name": "my_action",
        "action_kwargs": {
            "vessel": {"id": vessel_id},
            "param1": float(param1)
        }
    }]
    return action_sequence
 ```
 ## 测试规范
 ### 测试文件位置
 - 单元测试: `tests/` 目录
 - 设备测试: `tests/devices/`
 - 资源测试: `tests/resources/`
 - ROS消息测试: `tests/ros/msgs/`
 ### 测试命名
 ```python
 # tests/devices/my_device/test_my_device.py
 import pytest
 def test_device_initialization():
    """测试设备初始化"""
    pass
 def test_device_action():
    """测试设备动作"""
    pass
 ```
 ## 错误处理
 ```python
 from unilabos.utils.exception import UniLabException
 try:
    result = await device.execute_action()
 except ValueError as e:
    self.logger.error(f"参数错误: {e}")
    self.data["status"] = "错误: 参数无效"
    return False
 except Exception as e:
    self.logger.error(f"执行失败: {e}")
    raise
 ```
 ## 配置管理
 ```python
 from unilabos.config.config import BasicConfig, HTTPConfig
 # 读取配置
 port = BasicConfig.port
 is_host = BasicConfig.is_host_mode
 # 配置文件: local_config.py
 ```
 ## 常用工具
 ### 单例模式
 ```python
 from unilabos.utils.decorator import singleton
@singleton
 class MyManager:
    pass
 ```
 ### 类型检查
 ```python
 from unilabos.utils.type_check import NoAliasDumper
 yaml.dump(data, f, Dumper=NoAliasDumper)
 ```
 ### 导入管理
 ```python
 from unilabos.utils.import_manager import get_class
 device_class = get_class("unilabos.devices.my_device:MyDevice")
 ```
 ## Git 提交规范
 提交信息格式:
 ```
 <type>(<scope>): <subject>
 <body>
 ```
 类型:
 - `feat`: 新功能
 - `fix`: 修复bug
 - `docs`: 文档更新
 - `refactor`: 重构
 - `test`: 测试相关
 - `chore`: 构建/工具相关
 示例:
 ```
 feat(devices): 添加虚拟搅拌器设备
 - 实现VirtualStirrer类
 - 支持定时搅拌和持续搅拌模式
 - 添加速度验证逻辑
 ```
--- a/.cursor/skills/add-device/SKILL.md
+++ b/.cursor/skills/add-device/SKILL.md
@@ -1,24 +0,0 @@
 ---
 name: add-device
 description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Walks through device category selection (thing model), communication protocol, command protocol collection, driver creation, registry YAML, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, configure device registry, 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并严格遵循。
 该指南包含：
 - 8 步完整流程（设备类别、通信协议、指令收集、接口对齐、驱动创建、注册表、图文件、验证）
 - 所有物模型代码模板（注射泵、电磁阀、蠕动泵、温控、电机等）
 - 通信协议代码片段（Serial、Modbus、TCP、HTTP、OPC UA）
 - 现有设备接口快照（用于第四步对齐，包含参数名、status_types、方法签名）
 - 常见错误检查清单
 **Cursor 工具映射：**
 | 指南中的操作 | Cursor 中使用的工具 |
 |---|---|
 | 向用户确认设备类别、协议等信息 | 使用 AskQuestion 工具 |
 | 搜索已有设备注册表 | 使用 Grep 在 `unilabos/registry/devices/` 中搜索 |
 | 读取用户提供的协议文档/SDK 代码 | 使用 Read 工具 |
 | 第四步对齐：查找同类设备接口 | 优先使用 Grep 搜索仓库中的最新注册表；指南中的「现有设备接口快照」作为兜底参考 |
--- a/.cursor/skills/add-protocol/SKILL.md
+++ b/.cursor/skills/add-protocol/SKILL.md
@@ -1,323 +0,0 @@
 ---
 name: add-protocol
 description: Guide for adding new experiment protocols to Uni-Lab-OS (添加新实验操作协议). Walks through ROS Action definition, Pydantic model creation, protocol generator implementation, and registration. Use when the user wants to add a new protocol, create a compile function, implement an experiment operation, or mentions 协议/protocol/编译/compile/实验操作.
 ---
 # 添加新实验操作协议（Protocol）
 Protocol 是对实验有意义的完整动作（如泵转移、过滤、溶解），需要多设备协同。`compile/` 中的生成函数根据设备连接图将抽象操作"编译"为设备指令序列。
 添加一个 Protocol 需修改 **6 个文件**，按以下流程执行。
 ---
 ## 第一步：确认协议信息
 向用户确认：
 | 信息 | 示例 |
 |------|------|
 | 协议英文名 | `MyNewProtocol` |
 | 操作描述 | 将固体样品研磨至目标粒径 |
 | Goal 参数（必需 + 可选） | `vessel: dict`, `time: float = 300.0` |
 | Result 字段 | `success: bool`, `message: str` |
 | 需要哪些设备协同 | 研磨器、搅拌器 |
 ---
 ## 第二步：创建 ROS Action 定义
 路径：`unilabos_msgs/action/<ActionName>.action`
 三段式结构（Goal / Result / Feedback），用 `---` 分隔：
 ```
 # Goal
 Resource vessel
 float64 time
 string mode
 ---
 # Result
 bool success
 string return_info
 ---
 # Feedback
 string status
 string current_device
 builtin_interfaces/Duration time_spent
 builtin_interfaces/Duration time_remaining
 ```
 **类型映射：**
 | Python 类型 | ROS 类型 | 说明 |
 |------------|----------|------|
 | `dict` | `Resource` | 容器/设备引用，自定义消息类型 |
 | `float` | `float64` | |
 | `int` | `int32` | |
 | `str` | `string` | |
 | `bool` | `bool` | |
 > `Resource` 是 `unilabos_msgs/msg/Resource.msg` 中定义的自定义消息类型。
 ---
 ## 第三步：注册 Action 到 CMakeLists
 在 `unilabos_msgs/CMakeLists.txt` 的 `set(action_files ...)` 块中添加：
 ```cmake
 "action/MyNewAction.action"
 ```
 > 调试时需编译：`cd unilabos_msgs && colcon build && source ./install/local_setup.sh && cd ..`
 > PR 合并后 CI/CD 自动发布，`mamba update ros-humble-unilabos-msgs` 即可。
 ---
 ## 第四步：创建 Pydantic 模型
 在 `unilabos/messages/__init__.py` 中添加（位于 `# Start Protocols` 和 `# End Protocols` 之间）：
 ```python
 class MyNewProtocol(BaseModel):
    # === 必需参数 ===
    vessel: dict = Field(..., description="目标容器")
    # === 可选参数 ===
    time: float = Field(300.0, description="操作时间 (秒)")
    mode: str = Field("default", description="操作模式")
    def model_post_init(self, __context):
        """参数验证和修正"""
        if self.time <= 0:
            self.time = 300.0
 ```
 **规则：**
 - 参数名必须与 `.action` 文件中 Goal 字段完全一致
 - `dict` 类型对应 `.action` 中的 `Resource`
 - 将类名加入文件末尾的 `__all__` 列表
 ---
 ## 第五步：实现协议生成函数
 路径：`unilabos/compile/<protocol_name>_protocol.py`
 ```python
 import networkx as nx
 from typing import List, Dict, Any
 def generate_my_new_protocol(
    G: nx.DiGraph,
    vessel: dict,
    time: float = 300.0,
    mode: str = "default",
    **kwargs,
 ) -> List[Dict[str, Any]]:
    """将 MyNewProtocol 编译为设备动作序列。
    Args:
        G: 设备连接图（NetworkX），节点为设备/容器，边为物理连接
        vessel: 目标容器 {"id": "reactor_1"}
        time: 操作时间（秒）
        mode: 操作模式
    Returns:
        动作列表，每个元素为:
        - dict: 单步动作
        - list[dict]: 并行动作
    """
    from unilabos.compile.utils.vessel_parser import get_vessel
    vessel_id, vessel_data = get_vessel(vessel)
    actions = []
    # 查找相关设备（通过图的连接关系）
    # 生成动作序列
    actions.append({
        "device_id": "target_device_id",
        "action_name": "some_action",
        "action_kwargs": {"param": "value"}
    })
    # 等待
    actions.append({
        "action_name": "wait",
        "action_kwargs": {"time": time}
    })
    return actions
 ```
 ### 动作字典格式
 ```python
 # 单步动作（发给子设备）
 {"device_id": "pump_1", "action_name": "set_position", "action_kwargs": {"position": 10.0}}
 # 发给工作站自身
 {"device_id": "self", "action_name": "my_action", "action_kwargs": {...}}
 # 等待
 {"action_name": "wait", "action_kwargs": {"time": 5.0}}
 # 并行动作（列表嵌套）
 [
    {"device_id": "pump_1", "action_name": "set_position", "action_kwargs": {"position": 10.0}},
    {"device_id": "stirrer_1", "action_name": "start_stir", "action_kwargs": {"stir_speed": 300}}
 ]
 ```
 ### 关于 `vessel` 参数类型
 现有协议的 `vessel` 参数类型不统一：
 - 新协议趋势：使用 `dict`（如 `{"id": "reactor_1"}`）
 - 旧协议：使用 `str`（如 `"reactor_1"`）
 - 兼容写法：`Union[str, dict]`
 **建议新协议统一使用 `dict` 类型**，通过 `get_vessel()` 兼容两种输入。
 ### 公共工具函数（`unilabos/compile/utils/`）
 | 函数 | 用途 |
 |------|------|
 | `get_vessel(vessel)` | 解析容器参数为 `(vessel_id, vessel_data)`，兼容 dict 和 str |
 | `find_solvent_vessel(G, solvent)` | 根据溶剂名查找容器（精确→命名规则→模糊→液体类型） |
 | `find_reagent_vessel(G, reagent)` | 根据试剂名查找容器（支持固体和液体） |
 | `find_connected_stirrer(G, vessel)` | 查找与容器相连的搅拌器 |
 | `find_solid_dispenser(G)` | 查找固体加样器 |
 ### 协议内专属查找函数
 许多协议在自己的文件内定义了专属的 `find_*` 函数（不在 `utils/` 中）。编写新协议时，优先复用 `utils/` 中的公共函数；如需特殊查找逻辑，在协议文件内部定义即可：
 ```python
 def find_my_special_device(G: nx.DiGraph, vessel: str) -> str:
    """查找与容器相关的特殊设备"""
    for node in G.nodes():
        if 'my_device_type' in G.nodes[node].get('class', '').lower():
            return node
    raise ValueError("未找到特殊设备")
 ```
 ### 复用已有协议
 复杂协议通常组合已有协议：
 ```python
 from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
 actions.extend(generate_pump_protocol_with_rinsing(
    G, from_vessel=solvent_vessel, to_vessel=vessel, volume=volume
 ))
 ```
 ### 图查询模式
 ```python
 # 查找与容器相连的特定类型设备
 for neighbor in G.neighbors(vessel_id):
    node_data = G.nodes[neighbor]
    if "heater" in node_data.get("class", ""):
        heater_id = neighbor
        break
 # 查找最短路径（泵转移）
 path = nx.shortest_path(G, source=from_vessel_id, target=to_vessel_id)
 ```
 ---
 ## 第六步：注册协议生成函数
 在 `unilabos/compile/__init__.py` 中：
 1. 顶部添加导入：
 ```python
 from .my_new_protocol import generate_my_new_protocol
 ```
 2. 在 `action_protocol_generators` 字典中添加映射：
 ```python
 action_protocol_generators = {
    # ... 已有协议
    MyNewProtocol: generate_my_new_protocol,
 }
 ```
 ---
 ## 第七步：配置图文件
 在工作站的图文件中，将协议名加入 `protocol_type`：
 ```json
 {
    "id": "my_station",
    "class": "workstation",
    "config": {
        "protocol_type": ["PumpTransferProtocol", "MyNewProtocol"]
    }
 }
 ```
 ---
 ## 第八步：验证
 ```bash
 # 1. 模块可导入
 python -c "from unilabos.messages import MyNewProtocol; print(MyNewProtocol.model_fields)"
 # 2. 生成函数可导入
 python -c "from unilabos.compile import action_protocol_generators; print(list(action_protocol_generators.keys()))"
 # 3. 启动测试（可选）
 unilab -g <graph>.json --complete_registry
 ```
 ---
 ## 工作流清单
 ```
 协议接入进度：
 - [ ] 1. 确认协议名、参数、涉及设备
 - [ ] 2. 创建 .action 文件 (unilabos_msgs/action/<Name>.action)
 - [ ] 3. 注册到 CMakeLists.txt
 - [ ] 4. 创建 Pydantic 模型 (unilabos/messages/__init__.py) + 更新 __all__
 - [ ] 5. 实现生成函数 (unilabos/compile/<name>_protocol.py)
 - [ ] 6. 注册到 compile/__init__.py
 - [ ] 7. 配置图文件 protocol_type
 - [ ] 8. 验证
 ```
 ---
 ## 高级模式
 实现复杂协议时，详见 [reference.md](reference.md)：协议运行时数据流、mock graph 测试模式、单位解析工具（`unit_parser.py`）、复杂协议组合模式（以 dissolve 为例）。
 ---
 ## 现有协议速查
 | 协议 | Pydantic 类 | 生成函数 | 核心参数 |
 |------|-------------|---------|---------|
 | 泵转移 | `PumpTransferProtocol` | `generate_pump_protocol_with_rinsing` | `from_vessel, to_vessel, volume` |
 | 简单转移 | `TransferProtocol` | `generate_pump_protocol` | `from_vessel, to_vessel, volume` |
 | 加样 | `AddProtocol` | `generate_add_protocol` | `vessel, reagent, volume` |
 | 过滤 | `FilterProtocol` | `generate_filter_protocol` | `vessel, filtrate_vessel` |
 | 溶解 | `DissolveProtocol` | `generate_dissolve_protocol` | `vessel, solvent, volume` |
 | 加热/冷却 | `HeatChillProtocol` | `generate_heat_chill_protocol` | `vessel, temp, time` |
 | 搅拌 | `StirProtocol` | `generate_stir_protocol` | `vessel, time` |
 | 分离 | `SeparateProtocol` | `generate_separate_protocol` | `from_vessel, separation_vessel, solvent` |
 | 蒸发 | `EvaporateProtocol` | `generate_evaporate_protocol` | `vessel, pressure, temp, time` |
 | 清洗 | `CleanProtocol` | `generate_clean_protocol` | `vessel, solvent, volume` |
 | 离心 | `CentrifugeProtocol` | `generate_centrifuge_protocol` | `vessel, speed, time` |
 | 抽气充气 | `EvacuateAndRefillProtocol` | `generate_evacuateandrefill_protocol` | `vessel, gas` |
--- a/.cursor/skills/add-protocol/reference.md
+++ b/.cursor/skills/add-protocol/reference.md
@@ -1,207 +0,0 @@
 # 协议高级参考
 本文件是 SKILL.md 的补充，包含协议运行时数据流、测试模式、单位解析工具和复杂协议组合模式。Agent 在需要实现这些功能时按需阅读。
 ---
 ## 1. 协议运行时数据流
 从图文件到协议执行的完整链路：
 ```
 实验图 JSON
    ↓  graphio.read_node_link_json()
 physical_setup_graph (NetworkX DiGraph)
    ↓  ROS2WorkstationNode._setup_protocol_names(protocol_type)
 为每个 protocol_name 创建 ActionServer
    ↓  收到 Action Goal
 _create_protocol_execute_callback()
    ↓  convert_from_ros_msg_with_mapping(goal, mapping)
 protocol_kwargs (Python dict)
    ↓  向 Host 查询 Resource 类型参数的当前状态
 protocol_kwargs 更新（vessel 带上 children、data 等）
    ↓  protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
 List[Dict] 动作序列
    ↓  逐步 execute_single_action / 并行 create_task
 子设备 ActionClient 执行
 ```
 ### `_setup_protocol_names` 核心逻辑
 ```python
 def _setup_protocol_names(self, protocol_type):
    if isinstance(protocol_type, str):
        self.protocol_names = [p.strip() for p in protocol_type.split(",")]
    else:
        self.protocol_names = protocol_type
    self.protocol_action_mappings = {}
    for protocol_name in self.protocol_names:
        protocol_type = globals()[protocol_name]  # 从 messages 模块取 Pydantic 类
        self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
 ```
 ### `_create_protocol_execute_callback` 关键步骤
 1. `convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])` — ROS Goal → Python dict
 2. 对 `Resource` 类型字段，通过 `resource_get` Service 查询 Host 的最新资源状态
 3. `protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)` — 调用编译函数
 4. 遍历 steps：`dict` 串行执行，`list` 并行执行
 5. `execute_single_action` 通过 `_action_clients[device_id]` 向子设备发送 Action Goal
 6. 执行完毕后通过 `resource_update` Service 更新资源状态
 ---
 ## 2. 测试模式
 ### 2.1 协议文件内测试函数
 许多协议文件末尾有 `test_*` 函数，主要测试参数解析工具：
 ```python
 def test_dissolve_protocol():
    """测试溶解协议的各种参数解析"""
    volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
    for vol in volumes:
        result = parse_volume_input(vol)
        print(f"体积解析: {vol} → {result}mL")
    masses = ["2.9 g", "?", 2.5, "500 mg"]
    for mass in masses:
        result = parse_mass_input(mass)
        print(f"质量解析: {mass} → {result}g")
 ```
 ### 2.2 使用 mock graph 测试协议生成器
 推荐的端到端测试模式：
 ```python
 import pytest
 import networkx as nx
 from unilabos.compile.stir_protocol import generate_stir_protocol
@pytest.fixture
 def topology_graph():
    """创建测试拓扑图"""
    G = nx.DiGraph()
    G.add_node("flask_1", **{"class": "flask", "type": "container"})
    G.add_node("stirrer_1", **{"class": "virtual_stirrer", "type": "device"})
    G.add_edge("stirrer_1", "flask_1")
    return G
 def test_generate_stir_protocol(topology_graph):
    """测试搅拌协议生成"""
    actions = generate_stir_protocol(
        G=topology_graph,
        vessel="flask_1",
        time="5 min",
        stir_speed=300.0
    )
    assert len(actions) >= 1
    assert actions[0]["device_id"] == "stirrer_1"
 ```
 **要点：**
 - 用 `nx.DiGraph()` 构建最小拓扑
 - `add_node(id, **attrs)` 设置 `class`、`type`、`data` 等
 - `add_edge(src, dst)` 建立物理连接
 - 协议内的 `find_*` 函数依赖这些节点和边
 ---
 ## 3. 单位解析工具
 路径：`unilabos/compile/utils/unit_parser.py`
 | 函数 | 输入 | 返回 | 默认值 |
 |------|------|------|--------|
 | `parse_volume_input(input, default_unit)` | `"100 mL"`, `"2.5 L"`, `"500 μL"`, `10.0`, `"?"` | mL (float) | 50.0 |
 | `parse_mass_input(input)` | `"19.3 g"`, `"500 mg"`, `2.5`, `"?"` | g (float) | 1.0 |
 | `parse_time_input(input)` | `"30 min"`, `"1 h"`, `"300"`, `60.0`, `"?"` | 秒 (float) | 60.0 |
 支持的单位：
 - **体积**: mL, L, μL/uL, milliliter, liter, microliter
 - **质量**: g, mg, kg, gram, milligram, kilogram
 - **时间**: s/sec/second, min/minute, h/hr/hour, d/day
 特殊值 `"?"`、`"unknown"`、`"tbd"` 返回默认值。
 ---
 ## 4. 复杂协议组合模式
 以 `dissolve_protocol` 为例，展示如何组合多个子操作：
 ### 整体流程
 ```
 1. 解析参数 (parse_volume_input, parse_mass_input, parse_time_input)
 2. 设备发现 (find_connected_heatchill, find_connected_stirrer, find_solid_dispenser)
 3. 判断溶解类型 (液体 vs 固体)
 4. 组合动作序列:
   a. heat_chill_start / start_stir  (启动加热/搅拌)
   b. wait                           (等待温度稳定)
   c. pump_protocol_with_rinsing     (液体转移, 通过 extend 拼接)
      或 add_solid                   (固体加样)
   d. heat_chill / stir / wait       (溶解等待)
   e. heat_chill_stop                (停止加热)
 ```
 ### 关键代码模式
 **设备发现 → 条件组合：**
 ```python
 heatchill_id = find_connected_heatchill(G, vessel_id)
 stirrer_id = find_connected_stirrer(G, vessel_id)
 solid_dispenser_id = find_solid_dispenser(G)
 actions = []
 # 启动阶段
 if heatchill_id and temp > 25.0:
    actions.append({
        "device_id": heatchill_id,
        "action_name": "heat_chill_start",
        "action_kwargs": {"vessel": {"id": vessel_id}, "temp": temp}
    })
    actions.append({"action_name": "wait", "action_kwargs": {"time": 30}})
 elif stirrer_id:
    actions.append({
        "device_id": stirrer_id,
        "action_name": "start_stir",
        "action_kwargs": {"vessel": {"id": vessel_id}, "stir_speed": stir_speed}
    })
 # 转移阶段（复用已有协议）
 pump_actions = generate_pump_protocol_with_rinsing(
    G=G, from_vessel=solvent_vessel, to_vessel=vessel_id, volume=volume
 )
 actions.extend(pump_actions)
 # 等待阶段
 if heatchill_id:
    actions.append({
        "device_id": heatchill_id,
        "action_name": "heat_chill",
        "action_kwargs": {"vessel": {"id": vessel_id}, "temp": temp, "time": time}
    })
 else:
    actions.append({"action_name": "wait", "action_kwargs": {"time": time}})
 ```
 ---
 ## 5. 关键路径
 | 内容 | 路径 |
 |------|------|
 | 协议执行回调 | `unilabos/ros/nodes/presets/workstation.py` |
 | ROS 消息映射 | `unilabos/ros/msgs/message_converter.py` |
 | 物理拓扑图 | `unilabos/resources/graphio.py` (`physical_setup_graph`) |
 | 单位解析 | `unilabos/compile/utils/unit_parser.py` |
 | 容器解析 | `unilabos/compile/utils/vessel_parser.py` |
 | 溶解协议（组合示例） | `unilabos/compile/dissolve_protocol.py` |
--- a/.cursor/skills/add-resource/SKILL.md
+++ b/.cursor/skills/add-resource/SKILL.md
@@ -1,371 +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). Covers Bottle, Carrier, Deck, WareHouse definitions and registry YAML. 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。
 ---
 ## 第一步：确认资源类型
 向用户确认需要添加的资源类型：
 | 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`
 还需确认：
 - 资源所属的项目/场景（如 bioyond、battery、通用）
 - 尺寸参数（直径、高度、最大容积等）
 - 布局参数（行列数、间距等）
 ---
 ## 第二步：创建资源定义
 ### 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
 ├── itemized_carrier.py # Bottle, BottleCarrier, ItemizedCarrier 基类
 ├── warehouse.py        # WareHouse 基类
 └── container.py        # 通用容器
 ```
 ### 2A. 添加 Bottle（工厂函数）
 ```python
 from unilabos.resources.itemized_carrier import Bottle
 def My_Reagent_Bottle(
    name: str,
    diameter: float = 70.0,     # 瓶体直径 (mm)
    height: float = 120.0,      # 瓶体高度 (mm)
    max_volume: float = 500000.0,  # 最大容积 (μL)
    barcode: str = None,
 ) -> Bottle:
    """创建试剂瓶"""
    return Bottle(
        name=name,
        diameter=diameter,
        height=height,
        max_volume=max_volume,
        barcode=barcode,
        model="My_Reagent_Bottle",  # 唯一标识，用于注册表和物料映射
    )
 ```
 **Bottle 参数：**
 - `name`: 实例名称（运行时唯一）
 - `diameter`: 瓶体直径 (mm)
 - `height`: 瓶体高度 (mm)
 - `max_volume`: 最大容积 (**μL**，注意单位！500mL = 500000)
 - `barcode`: 条形码（可选）
 - `model`: 模型标识，与注册表 key 一致
 ### 2B. 添加 BottleCarrier（工厂函数）
 ```python
 from pylabrobot.resources import ResourceHolder
 from pylabrobot.resources.carrier import create_ordered_items_2d
 from unilabos.resources.itemized_carrier import BottleCarrier
 def My_6SlotCarrier(name: str) -> BottleCarrier:
    """创建 3x2 六槽位载架"""
    sites = create_ordered_items_2d(
        klass=ResourceHolder,
        num_items_x=3,       # 列数
        num_items_y=2,       # 行数
        dx=10.0,             # X 起始偏移
        dy=10.0,             # Y 起始偏移
        dz=5.0,              # Z 偏移
        item_dx=42.0,        # X 间距
        item_dy=35.0,        # Y 间距
        size_x=20.0,         # 槽位宽
        size_y=20.0,         # 槽位深
        size_z=50.0,         # 槽位高
    )
    carrier = BottleCarrier(
        name=name,
        size_x=146.0,        # 载架总宽
        size_y=80.0,         # 载架总深
        size_z=55.0,         # 载架总高
        sites=sites,
        model="My_6SlotCarrier",
    )
    carrier.num_items_x = 3
    carrier.num_items_y = 2
    carrier.num_items_z = 1
    # 预装 Bottle（可选）
    ordering = ["A01", "A02", "A03", "B01", "B02", "B03"]
    for i in range(6):
        carrier[i] = My_Reagent_Bottle(f"{ordering[i]}")
    return carrier
 ```
 ### 2C. 添加 WareHouse（工厂函数）
 ```python
 from unilabos.resources.warehouse import warehouse_factory
 def my_warehouse_4x4(name: str) -> "WareHouse":
    """创建 4行x4列 堆栈仓库"""
    return warehouse_factory(
        name=name,
        num_items_x=4,            # 列数
        num_items_y=4,            # 行数
        num_items_z=1,            # 层数（通常为 1）
        dx=137.0,                 # X 起始偏移
        dy=96.0,                  # Y 起始偏移
        dz=120.0,                 # Z 起始偏移
        item_dx=137.0,            # X 间距
        item_dy=125.0,            # Y 间距
        item_dz=10.0,             # Z 间距（多层时用）
        resource_size_x=127.0,    # 槽位宽
        resource_size_y=85.0,     # 槽位深
        resource_size_z=100.0,    # 槽位高
        model="my_warehouse_4x4",
    )
 ```
 **`warehouse_factory` 参数说明：**
 | 参数 | 说明 |
 |------|------|
 | `num_items_x/y/z` | 列数/行数/层数 |
 | `dx, dy, dz` | 第一个槽位的起始坐标偏移 |
 | `item_dx, item_dy, item_dz` | 相邻槽位间距 |
 | `resource_size_x/y/z` | 单个槽位的物理尺寸 |
 | `col_offset` | 列命名偏移（如设 4 则从 A05 开始） |
 | `row_offset` | 行命名偏移（如设 5 则从 F 行开始） |
 | `layout` | 排序方式：`"col-major"`（列优先，默认）/ `"row-major"`（行优先） |
 | `removed_positions` | 要移除的位置索引列表 |
 自动生成 `ResourceHolder` 槽位，命名规则为 `A01, B01, C01, D01, A02, ...`（列优先）或 `A01, A02, A03, A04, B01, ...`（行优先）。
 ### 2D. 添加 Deck（类定义）
 ```python
 from pylabrobot.resources import Deck, Coordinate
 class MyStation_Deck(Deck):
    def __init__(
        self,
        name: str = "MyStation_Deck",
        size_x: float = 2700.0,
        size_y: float = 1080.0,
        size_z: float = 1500.0,
        category: str = "deck",
        setup: bool = False,
    ) -> None:
        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
        if setup:
            self.setup()
    def setup(self) -> None:
        self.warehouses = {
            "仓库A": my_warehouse_4x4("仓库A"),
            "仓库B": my_warehouse_4x4("仓库B"),
        }
        self.warehouse_locations = {
            "仓库A": Coordinate(-200.0, 400.0, 0.0),
            "仓库B": 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])
 ```
 **Deck 要点：**
 - 继承 `pylabrobot.resources.Deck`
 - `setup()` 创建 WareHouse 并通过 `assign_child_resource` 放置到指定坐标
 - `setup` 参数控制是否在构造时自动调用 `setup()`（图文件中通过 `config.setup: true` 触发）
 ---
 ## 第三步：创建注册表 YAML
 路径：`unilabos/registry/resources/<project>/<type>.yaml`
 ### Bottle 注册
 ```yaml
 My_Reagent_Bottle:
  category:
  - bottles
  class:
    module: unilabos.resources.my_project.bottles:My_Reagent_Bottle
    type: pylabrobot
  description: 我的试剂瓶
  handles: []
  icon: ''
  init_param_schema: {}
  version: 1.0.0
 ```
 ### Carrier 注册
 ```yaml
 My_6SlotCarrier:
  category:
  - bottle_carriers
  class:
    module: unilabos.resources.my_project.bottle_carriers:My_6SlotCarrier
    type: pylabrobot
  handles: []
  icon: ''
  init_param_schema: {}
  version: 1.0.0
 ```
 ### Deck 注册
 ```yaml
 MyStation_Deck:
  category:
  - deck
  class:
    module: unilabos.resources.my_project.decks:MyStation_Deck
    type: pylabrobot
  description: 我的工作站 Deck
  handles: []
  icon: ''
  init_param_schema: {}
  registry_type: resource
  version: 1.0.0
 ```
 **注册表规则：**
 - `class.module` 格式为 `python.module.path:ClassName_or_FunctionName`
 - `class.type` 固定为 `pylabrobot`
 - Key（如 `My_Reagent_Bottle`）必须与工厂函数名 / 类名一致
 - `category` 按类型标注（`bottles`, `bottle_carriers`, `deck` 等）
 ---
 ## 第四步：在图文件中引用
 ### Deck 在工作站中的引用
 工作站节点通过 `deck` 字段引用，Deck 作为子节点：
 ```json
 {
    "id": "my_station",
    "children": ["my_deck"],
    "deck": {
        "data": {
            "_resource_child_name": "my_deck",
            "_resource_type": "unilabos.resources.my_project.decks:MyStation_Deck"
        }
    }
 },
 {
    "id": "my_deck",
    "parent": "my_station",
    "type": "deck",
    "class": "MyStation_Deck",
    "config": {"type": "MyStation_Deck", "setup": true}
 }
 ```
 ### 物料类型映射（外部系统对接时）
 如果工作站需要与外部系统同步物料，在 config 中配置 `material_type_mappings`：
 ```json
 "material_type_mappings": {
    "My_Reagent_Bottle": ["试剂瓶", "external-type-uuid"],
    "My_6SlotCarrier": ["六槽载架", "external-type-uuid"]
 }
 ```
 ---
 ## 第五步：注册 PLR 扩展（如需要）
 如果添加了新的 Deck 类，需要在 `unilabos/resources/plr_additional_res_reg.py` 中导入，使 `find_subclass` 能发现它：
 ```python
 def register():
    from unilabos.resources.my_project.decks import MyStation_Deck
 ```
 ---
 ## 第六步：验证
 ```bash
 # 1. 资源可导入
 python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
 # 2. Deck 可创建
 python -c "
 from unilabos.resources.my_project.decks import MyStation_Deck
 d = MyStation_Deck('test', setup=True)
 print(d.children)
 "
 # 3. 启动测试
 unilab -g <graph>.json --complete_registry
 ```
 ---
 ## 工作流清单
 ```
 资源接入进度：
 - [ ] 1. 确定资源类型（Bottle / Carrier / WareHouse / Deck）
 - [ ] 2. 创建资源定义（工厂函数/类）
 - [ ] 3. 创建注册表 YAML (unilabos/registry/resources/<project>/<type>.yaml)
 - [ ] 4. 在图文件中引用（如需要）
 - [ ] 5. 注册 PLR 扩展（Deck 类需要）
 - [ ] 6. 验证
 ```
 ---
 ## 高级模式
 实现复杂资源系统时，详见 [reference.md](reference.md)：类继承体系完整图、序列化/反序列化流程、Bioyond 物料双向同步、非瓶类资源（ElectrodeSheet / Magazine）、仓库工厂 layout 模式。
 ---
 ## 现有资源参考
 | 项目 | Bottles | Carriers | WareHouses | Decks |
 |------|---------|----------|------------|-------|
 | bioyond | `bioyond/bottles.py` | `bioyond/bottle_carriers.py` | `bioyond/warehouses.py`, `YB_warehouses.py` | `bioyond/decks.py` |
 | battery | — | `battery/bottle_carriers.py` | — | — |
 | 通用 | — | — | `warehouse.py` | — |
 ### 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` |
 | 资源注册表 | `unilabos/registry/resources/` |
 | 图文件加载 | `unilabos/resources/graphio.py` |
 | 资源跟踪器 | `unilabos/resources/resource_tracker.py` |
--- a/.cursor/skills/add-resource/reference.md
+++ b/.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` |
--- a/.cursor/skills/add-workstation/SKILL.md
+++ b/.cursor/skills/add-workstation/SKILL.md
@@ -1,500 +0,0 @@
 ---
 name: add-workstation
 description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Walks through workstation type selection, sub-device composition, external system integration, driver creation, registry YAML, deck setup, and graph file configuration. Use when the user wants to add/integrate a new workstation, create a workstation driver, configure a station with sub-devices, set up deck and materials, or mentions 工作站/工站/station/workstation.
 ---
 # Uni-Lab-OS 工作站接入指南
 工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统（PLR Deck）和工作流引擎。本指南覆盖从需求分析到验证的全流程。
 > **前置知识**：工作站接入基于 `docs/ai_guides/add_device.md` 的通用设备接入框架，但有显著差异。阅读本指南前无需先读通用指南。
 ## 第一步：确定工作站类型
 向用户确认以下信息：
 **Q1: 工作站的业务场景？**
 | 类型 | 基类 | 适用场景 | 示例 |
 |------|------|----------|------|
 | **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（过滤、转移、加热等） | FilterProtocolStation |
 | **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 系统对接，有专属 API | BioyondStation |
 | **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件，无外部系统 | CoinCellAssembly |
 **Q2: 工作站英文名称？**（如 `my_reaction_station`）
 **Q3: 与外部系统的交互方式？**
 | 方式 | 适用场景 | 需要的配置 |
 |------|----------|-----------|
 | 无外部系统 | Protocol 工作站、纯硬件控制 | 无 |
 | HTTP API | LIMS/MES 系统（如 Bioyond） | `api_host`, `api_key` |
 | Modbus TCP | PLC 控制 | `address`, `port` |
 | OPC UA | 工业设备 | `url` |
 **Q4: 子设备组成？**
 - 列出所有子设备（如反应器、泵、阀、传感器等）
 - 哪些是已有设备类型？哪些需要新增？
 - 子设备之间的硬件代理关系（如泵通过串口设备通信）
 **Q5: 物料管理需求？**
 - 是否需要 Deck（物料面板）？
 - 物料类型（plate、tip_rack、bottle 等）
 - 是否需要与外部物料系统同步？
 ---
 ## 第二步：理解工作站架构
 工作站与普通设备的核心差异：
 | 维度 | 普通设备 | 工作站 |
 |------|---------|--------|
 | 基类 | 无（纯 Python 类） | `WorkstationBase` 或 `ProtocolNode` |
 | ROS 节点 | `BaseROS2DeviceNode` | `ROS2WorkstationNode` |
 | 状态管理 | `self.data` 字典 | 通常不用 `self.data`，用 `@property` 直接访问 |
 | 子设备 | 无 | `children` 列表，通过 `self._children` 访问 |
 | 物料 | 无 | `self.deck`（PLR Deck） |
 | 图文件角色 | `parent: null` 或 `parent: "<station>"` | `parent: null`，含 `children` 和 `deck` |
 ### 继承体系
 `WorkstationBase` (ABC) → `ProtocolNode` (通用协议) / `BioyondWorkstation` (→ ReactionStation, DispensingStation) / `CoinCellAssemblyWorkstation` (硬件控制)
 ### ROS 层
 `ROS2WorkstationNode` 额外负责：初始化 children 子设备节点、为子设备创建 ActionClient、配置硬件代理、为 protocol_type 创建协议 ActionServer。
 ---
 ## 第三步：创建驱动文件
 文件路径：`unilabos/devices/workstation/<station_name>/<station_name>.py`
 ### 模板 A：基于外部系统的工作站
 适用于与 LIMS/MES 等外部系统对接的场景。
 ```python
 import logging
 from typing import Dict, Any, Optional, List
 from pylabrobot.resources import Deck
 from unilabos.devices.workstation.workstation_base import WorkstationBase
 try:
    from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 except ImportError:
    ROS2WorkstationNode = None
 class MyWorkstation(WorkstationBase):
    """工作站描述"""
    _ros_node: "ROS2WorkstationNode"
    def __init__(
        self,
        config: dict = None,
        deck: Optional[Deck] = None,
        protocol_type: list = None,
        **kwargs,
    ):
        super().__init__(deck=deck, **kwargs)
        self.config = config or {}
        self.logger = logging.getLogger(f"MyWorkstation")
        # 外部系统连接配置
        self.api_host = self.config.get("api_host", "")
        self.api_key = self.config.get("api_key", "")
        # 工作站业务状态（不同于 self.data 模式）
        self._status = "Idle"
    def post_init(self, ros_node: "ROS2WorkstationNode") -> None:
        super().post_init(ros_node)
        # 在这里启动后台服务、连接监控等
    # ============ 子设备访问 ============
    def _get_child_device(self, device_id: str):
        """通过 ID 获取子设备节点"""
        return self._children.get(device_id)
    # ============ 动作方法 ============
    async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
        """启动调度器"""
        return {"success": True}
    async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
        """创建工单"""
        return {"success": True}
    # ============ 属性 ============
    @property
    def workflow_sequence(self) -> str:
        return "[]"
    @property
    def material_info(self) -> str:
        return "{}"
 ```
 ### 模板 B：基于硬件控制的工作站
 适用于直接与 PLC/硬件通信的场景。
 ```python
 import logging
 from typing import Dict, Any, Optional
 from pylabrobot.resources import Deck
 from unilabos.devices.workstation.workstation_base import WorkstationBase
 try:
    from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 except ImportError:
    ROS2WorkstationNode = None
 class MyHardwareWorkstation(WorkstationBase):
    """硬件控制工作站"""
    _ros_node: "ROS2WorkstationNode"
    def __init__(
        self,
        config: dict = None,
        deck: Optional[Deck] = None,
        address: str = "192.168.1.100",
        port: str = "502",
        debug_mode: bool = False,
        *args,
        **kwargs,
    ):
        super().__init__(deck=deck, *args, **kwargs)
        self.config = config or {}
        self.address = address
        self.port = int(port)
        self.debug_mode = debug_mode
        self.logger = logging.getLogger("MyHardwareWorkstation")
        # 初始化通信客户端
        if not debug_mode:
            from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
            self.client = ModbusTcpClient(host=self.address, port=self.port)
        else:
            self.client = None
    def post_init(self, ros_node: "ROS2WorkstationNode") -> None:
        super().post_init(ros_node)
    # ============ 硬件读写 ============
    def _read_register(self, name: str):
        """读取 Modbus 寄存器"""
        if self.debug_mode:
            return 0
        # 实际读取逻辑
        pass
    # ============ 动作方法 ============
    async def start_process(self, **kwargs) -> Dict[str, Any]:
        """启动加工流程"""
        return {"success": True}
    async def stop_process(self, **kwargs) -> Dict[str, Any]:
        """停止加工流程"""
        return {"success": True}
    # ============ 属性（从硬件实时读取）============
    @property
    def sys_status(self) -> str:
        return str(self._read_register("SYS_STATUS"))
 ```
 ### 模板 C：Protocol 工作站
 适用于标准化学操作协议的场景，直接使用 `ProtocolNode`。
 ```python
 from typing import List, Optional
 from pylabrobot.resources import Resource as PLRResource
 from unilabos.devices.workstation.workstation_base import ProtocolNode
 class MyProtocolStation(ProtocolNode):
    """Protocol 工作站 — 使用标准化学操作协议"""
    def __init__(
        self,
        protocol_type: List[str],
        deck: Optional[PLRResource] = None,
        *args,
        **kwargs,
    ):
        super().__init__(protocol_type=protocol_type, deck=deck, *args, **kwargs)
 ```
 > Protocol 工作站通常不需要自定义驱动类，直接使用 `ProtocolNode` 并在注册表和图文件中配置 `protocol_type` 即可。
 ---
 ## 第四步：创建子设备驱动（如需要）
 工作站的子设备本身是独立设备。按 `docs/ai_guides/add_device.md` 的标准流程创建。
 子设备的关键约束：
 - 在图文件中 `parent` 指向工作站 ID
 - 图文件中在工作站的 `children` 数组里列出
 - 如需硬件代理，在子设备的 `config.hardware_interface.name` 指向通信设备 ID
 ---
 ## 第五步：创建注册表 YAML
 路径：`unilabos/registry/devices/<station_name>.yaml`
 ### 最小配置
 ```yaml
 my_workstation:
  category:
    - workstation
  class:
    module: unilabos.devices.workstation.my_station.my_station:MyWorkstation
    type: python
 ```
 启动时 `--complete_registry` 自动补全 `status_types` 和 `action_value_mappings`。
 ### 完整配置参考
 ```yaml
 my_workstation:
  description: "我的工作站"
  version: "1.0.0"
  category:
    - workstation
    - my_category
  class:
    module: unilabos.devices.workstation.my_station.my_station:MyWorkstation
    type: python
    status_types:
      workflow_sequence: String
      material_info: String
    action_value_mappings:
      scheduler_start:
        type: UniLabJsonCommandAsync
        goal: {}
        result:
          success: success
      create_order:
        type: UniLabJsonCommandAsync
        goal:
          json_str: json_str
        result:
          success: success
  init_param_schema:
    config:
      type: object
    deck:
      type: object
    protocol_type:
      type: array
 ```
 ### 子设备注册表
 子设备有独立的注册表文件，需要在 `category` 中包含工作站标识：
 ```yaml
 my_reactor:
  category:
    - reactor
    - my_workstation
  class:
    module: unilabos.devices.workstation.my_station.my_reactor:MyReactor
    type: python
 ```
 ---
 ## 第六步：配置 Deck 资源（如需要）
 如果工作站有物料管理需求，需要定义 Deck 类。
 ### 使用已有 Deck 类
 查看 `unilabos/resources/` 目录下是否有适用的 Deck 类。
 ### 创建自定义 Deck
 在 `unilabos/resources/<category>/decks.py` 中定义：
 ```python
 from pylabrobot.resources import Deck
 from pylabrobot.resources.coordinate import Coordinate
 def MyStation_Deck(name: str = "MyStation_Deck") -> Deck:
    deck = Deck(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
    # 在 deck 上定义子资源位置（carrier、plate 等）
    return deck
 ```
 在 `unilabos/resources/<category>/` 下注册或通过注册表引用。
 ---
 ## 第七步：配置图文件
 图文件路径：`unilabos/test/experiments/<station_name>.json`
 ### 完整结构
 ```json
 {
    "nodes": [
        {
            "id": "my_station",
            "name": "my_station",
            "children": ["my_deck", "sub_device_1", "sub_device_2"],
            "parent": null,
            "type": "device",
            "class": "my_workstation",
            "position": {"x": 0, "y": 0, "z": 0},
            "config": {
                "api_host": "http://192.168.1.100:8080",
                "api_key": "YOUR_KEY"
            },
            "deck": {
                "data": {
                    "_resource_child_name": "my_deck",
                    "_resource_type": "unilabos.resources.my_module.decks:MyStation_Deck"
                }
            },
            "size_x": 2700.0,
            "size_y": 1080.0,
            "size_z": 1500.0,
            "protocol_type": [],
            "data": {}
        },
        {
            "id": "my_deck",
            "name": "my_deck",
            "children": [],
            "parent": "my_station",
            "type": "deck",
            "class": "MyStation_Deck",
            "position": {"x": 0, "y": 0, "z": 0},
            "config": {
                "type": "MyStation_Deck",
                "setup": true,
                "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}
            },
            "data": {}
        },
        {
            "id": "sub_device_1",
            "name": "sub_device_1",
            "children": [],
            "parent": "my_station",
            "type": "device",
            "class": "sub_device_registry_name",
            "position": {"x": 100, "y": 0, "z": 0},
            "config": {},
            "data": {}
        }
    ]
 }
 ```
 ### 图文件规则
 | 字段 | 说明 |
 |------|------|
 | `id` | 节点唯一标识，与 `children` 数组中的引用一致 |
 | `children` | 包含 deck ID 和所有子设备 ID |
 | `parent` | 工作站节点为 `null`；子设备/deck 指向工作站 ID |
 | `type` | 工作站和子设备为 `"device"`；deck 为 `"deck"` |
 | `class` | 对应注册表中的设备名 |
 | `deck.data._resource_child_name` | 必须与 deck 节点的 `id` 一致 |
 | `deck.data._resource_type` | Deck 工厂函数的完整 Python 路径 |
 | `protocol_type` | Protocol 工作站填入协议名列表；否则为 `[]` |
 | `config` | 传入驱动 `__init__` 的 `config` 参数 |
 ---
 ## 第八步：验证
 ```bash
 # 1. 模块可导入
 python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
 # 2. 注册表补全
 unilab -g <graph>.json --complete_registry
 # 3. 启动测试
 unilab -g <graph>.json
 ```
 ---
 ## 高级模式
 实现外部系统对接型工作站时，详见 [reference.md](reference.md)：RPC 客户端、HTTP 回调服务、连接监控、Config 结构模式（material_type_mappings / warehouse_mapping / workflow_mappings）、ResourceSynchronizer、update_resource、工作流序列、站间物料转移、post_init 完整模式。
 ---
 ## 关键规则
 1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.__init__` 需要 `deck` 参数
 2. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
 3. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
 4. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
 5. **子设备在图文件中声明** — 不在驱动代码中创建子设备实例
 6. **`deck` 配置中的 `_resource_child_name` 必须与 deck 节点 ID 一致**
 7. **Protocol 工作站优先使用 `ProtocolNode`** — 不需要自定义类
 ---
 ## 工作流清单
 ```
 工作站接入进度：
 - [ ] 1. 确定工作站类型（Protocol / 外部系统 / 硬件控制）
 - [ ] 2. 确认子设备组成和物料需求
 - [ ] 3. 创建工作站驱动 unilabos/devices/workstation/<name>/<name>.py
 - [ ] 4. 创建子设备驱动（如需要，按 add_device.md 流程）
 - [ ] 5. 创建注册表 unilabos/registry/devices/<name>.yaml
 - [ ] 6. 创建/选择 Deck 资源类（如需要）
 - [ ] 7. 配置图文件 unilabos/test/experiments/<name>.json
 - [ ] 8. 验证：可导入 + 注册表补全 + 启动测试
 ```
 ---
 ## 现有工作站参考
 | 工作站 | 注册表名 | 驱动类 | 类型 |
 |--------|----------|--------|------|
 | Protocol 通用 | `workstation` | `ProtocolNode` | Protocol |
 | Bioyond 反应站 | `reaction_station.bioyond` | `BioyondReactionStation` | 外部系统 |
 | Bioyond 配液站 | `bioyond_dispensing_station` | `BioyondDispensingStation` | 外部系统 |
 | 纽扣电池组装 | `coincellassemblyworkstation_device` | `CoinCellAssemblyWorkstation` | 硬件控制 |
 ### 参考文件路径
 - 基类: `unilabos/devices/workstation/workstation_base.py`
 - Bioyond 基类: `unilabos/devices/workstation/bioyond_studio/station.py`
 - 反应站: `unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py`
 - 配液站: `unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py`
 - 纽扣电池: `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
 - ROS 节点: `unilabos/ros/nodes/presets/workstation.py`
 - 图文件: `unilabos/test/experiments/reaction_station_bioyond.json`, `dispensing_station_bioyond.json`
--- a/.cursor/skills/add-workstation/reference.md
+++ b/.cursor/skills/add-workstation/reference.md
@@ -1,371 +0,0 @@
 # 工作站高级模式参考
 本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
 Agent 在需要实现这些功能时按需阅读。
 ---
 ## 1. 外部系统集成模式
 ### 1.1 RPC 客户端
 与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
 ```python
 from unilabos.device_comms.rpc import BaseRequest
 class MySystemRPC(BaseRequest):
    """外部系统 RPC 客户端"""
    def __init__(self, host: str, api_key: str):
        super().__init__(host)
        self.api_key = api_key
    def _request(self, endpoint: str, data: dict = None) -> dict:
        return self.post(
            url=f"{self.host}/api/{endpoint}",
            params={
                "apiKey": self.api_key,
                "requestTime": self.get_current_time_iso8601(),
                "data": data or {},
            },
        )
    def query_status(self) -> dict:
        return self._request("status/query")
    def create_order(self, order_data: dict) -> dict:
        return self._request("order/create", order_data)
 ```
 参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
 ### 1.2 HTTP 回调服务
 接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
 ```python
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 class MyWorkstation(WorkstationBase):
    def __init__(self, config=None, deck=None, **kwargs):
        super().__init__(deck=deck, **kwargs)
        self.config = config or {}
        http_cfg = self.config.get("http_service_config", {})
        self._http_service_config = {
            "host": http_cfg.get("http_service_host", "127.0.0.1"),
            "port": http_cfg.get("http_service_port", 8080),
        }
        self.http_service = None
    def post_init(self, ros_node):
        super().post_init(ros_node)
        self.http_service = WorkstationHTTPService(
            workstation_instance=self,
            host=self._http_service_config["host"],
            port=self._http_service_config["port"],
        )
        self.http_service.start()
 ```
 **HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
 | 端点 | 调用的工作站方法 |
 |------|-----------------|
 | `/report/step_finish` | `process_step_finish_report(report_request)` |
 | `/report/sample_finish` | `process_sample_finish_report(report_request)` |
 | `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
 | `/report/material_change` | `process_material_change_report(report_data)` |
 | `/report/error_handling` | `handle_external_error(error_data)` |
 实现对应方法即可接收回调：
 ```python
 def process_step_finish_report(self, report_request) -> Dict[str, Any]:
    """处理步骤完成报告"""
    step_name = report_request.data.get("stepName")
    return {"success": True, "message": f"步骤 {step_name} 已处理"}
 def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
    """处理订单完成报告"""
    order_code = report_request.data.get("orderCode")
    return {"success": True}
 ```
 参考：`unilabos/devices/workstation/workstation_http_service.py`
 ### 1.3 连接监控
 独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
 ```python
 class ConnectionMonitor:
    def __init__(self, workstation, check_interval=30):
        self.workstation = workstation
        self.check_interval = check_interval
        self._running = False
        self._thread = None
    def start(self):
        self._running = True
        self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
        self._thread.start()
    def _monitor_loop(self):
        while self._running:
            try:
                # 调用外部系统接口检测连接
                self.workstation.hardware_interface.ping()
                status = "online"
            except Exception:
                status = "offline"
            time.sleep(self.check_interval)
 ```
 参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
 ---
 ## 2. Config 结构模式
 工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
 ### 2.1 外部系统连接
 ```json
 {
    "api_host": "http://192.168.1.100:8080",
    "api_key": "YOUR_API_KEY"
 }
 ```
 ### 2.2 HTTP 回调服务
 ```json
 {
    "http_service_config": {
        "http_service_host": "127.0.0.1",
        "http_service_port": 8080
    }
 }
 ```
 ### 2.3 物料类型映射
 将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
 ```json
 {
    "material_type_mappings": {
        "PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
        "BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
    }
 }
 ```
 ### 2.4 仓库映射
 将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
 ```json
 {
    "warehouse_mapping": {
        "仓库名": {
            "uuid": "warehouse-uuid",
            "site_uuids": {
                "A01": "site-uuid-A01",
                "A02": "site-uuid-A02"
            }
        }
    }
 }
 ```
 ### 2.5 工作流映射
 将内部工作流名映射到外部系统的工作流 ID。
 ```json
 {
    "workflow_mappings": {
        "internal_workflow_name": "external-workflow-uuid"
    }
 }
 ```
 ### 2.6 物料默认参数
 ```json
 {
    "material_default_parameters": {
        "NMP": {
            "unit": "毫升",
            "density": "1.03",
            "densityUnit": "g/mL",
            "description": "N-甲基吡咯烷酮"
        }
    }
 }
 ```
 ---
 ## 3. 资源同步机制
 ### 3.1 ResourceSynchronizer
 抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
 ```python
 from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
 class MyResourceSynchronizer(ResourceSynchronizer):
    def __init__(self, workstation, api_client):
        super().__init__(workstation)
        self.api_client = api_client
    def sync_from_external(self) -> bool:
        """从外部系统拉取物料到 deck"""
        external_materials = self.api_client.list_materials()
        for material in external_materials:
            plr_resource = self._convert_to_plr(material)
            self.workstation.deck.assign_child_resource(plr_resource, coordinate)
        return True
    def sync_to_external(self, plr_resource) -> bool:
        """将 deck 中的物料变更推送到外部系统"""
        external_data = self._convert_from_plr(plr_resource)
        self.api_client.update_material(external_data)
        return True
    def handle_external_change(self, change_info) -> bool:
        """处理外部系统推送的物料变更"""
        return True
 ```
 ### 3.2 update_resource — 上传资源树到云端
 将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
 ```python
 # 在 post_init 中上传初始 deck
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
 ROS2DeviceNode.run_async_func(
    self._ros_node.update_resource, True,
    **{"resources": [self.deck]}
 )
 # 在动作方法中更新特定资源
 ROS2DeviceNode.run_async_func(
    self._ros_node.update_resource, True,
    **{"resources": [updated_plate]}
 )
 ```
 ---
 ## 4. 工作流序列管理
 工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
 ```python
 class MyWorkstation(WorkstationBase):
    def __init__(self, **kwargs):
        super().__init__(**kwargs)
        self._workflow_sequence = []
    @property
    def workflow_sequence(self) -> str:
        """返回 JSON 字符串，ROS 自动发布"""
        import json
        return json.dumps(self._workflow_sequence)
    async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
        """添加工作流到队列"""
        self._workflow_sequence.append({
            "name": workflow_name,
            "status": "pending",
            "created_at": time.time(),
        })
        return {"success": True}
    async def clear_workflows(self) -> Dict[str, Any]:
        """清空工作流队列"""
        self._workflow_sequence = []
        return {"success": True}
 ```
 ---
 ## 5. 站间物料转移
 工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
 ```python
 async def transfer_materials_to_another_station(
    self,
    target_device_id: str,
    transfer_groups: list,
    **kwargs,
 ) -> Dict[str, Any]:
    """将物料转移到另一个工作站"""
    target_node = self._children.get(target_device_id)
    if not target_node:
        # 通过 ROS 节点查找非子设备的目标站
        pass
    for group in transfer_groups:
        resource = self.find_resource_by_name(group["resource_name"])
        # 从本站 deck 移除
        resource.unassign()
        # 调用目标站的接收方法
        # ...
    return {"success": True, "transferred": len(transfer_groups)}
 ```
 参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
 ---
 ## 6. post_init 完整模式
 `post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
 ```python
 def post_init(self, ros_node):
    super().post_init(ros_node)
    # 1. 初始化外部系统客户端（此时 config 已可用）
    self.rpc_client = MySystemRPC(
        host=self.config.get("api_host"),
        api_key=self.config.get("api_key"),
    )
    self.hardware_interface = self.rpc_client
    # 2. 启动连接监控
    self.connection_monitor = ConnectionMonitor(self)
    self.connection_monitor.start()
    # 3. 启动 HTTP 回调服务
    if hasattr(self, '_http_service_config'):
        self.http_service = WorkstationHTTPService(
            workstation_instance=self,
            host=self._http_service_config["host"],
            port=self._http_service_config["port"],
        )
        self.http_service.start()
    # 4. 上传 deck 到云端
    ROS2DeviceNode.run_async_func(
        self._ros_node.update_resource, True,
        **{"resources": [self.deck]}
    )
    # 5. 初始化资源同步器（可选）
    self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
 ```
--- a/.cursor/skills/edit-experiment-graph/SKILL.md
+++ b/.cursor/skills/edit-experiment-graph/SKILL.md
@@ -1,381 +0,0 @@
 ---
 name: edit-experiment-graph
 description: Guide for creating and editing experiment graph files in Uni-Lab-OS (创建/编辑实验组态图). Covers node types, link types, parent-child relationships, deck configuration, and common graph patterns. Use when the user wants to create a graph file, edit an experiment configuration, set up device topology, or mentions 图文件/graph/组态/拓扑/实验图/experiment JSON.
 ---
 # 创建/编辑实验组态图
 实验图（Graph File）定义设备拓扑、物理连接和物料配置。系统启动时加载图文件，初始化所有设备和连接关系。
 路径：`unilabos/test/experiments/<name>.json`
 ---
 ## 第一步：确认需求
 向用户确认：
 | 信息 | 说明 |
 |------|------|
 | 场景类型 | 单设备调试 / 多设备联调 / 工作站完整图 |
 | 包含的设备 | 设备 ID、注册表 class 名、配置参数 |
 | 连接关系 | 物理连接（管道）/ 通信连接（串口）/ 无连接 |
 | 父子关系 | 是否有工作站包含子设备 |
 | 物料需求 | 是否需要 Deck、容器、试剂瓶 |
 ---
 ## 第二步：JSON 顶层结构
 ```json
 {
    "nodes": [],
    "links": []
 }
 ```
 > `links` 也可写作 `edges`，加载时两者等效。
 ---
 ## 第三步：定义 Nodes
 ### 节点字段
 | 字段 | 类型 | 必需 | 默认值 | 说明 |
 |------|------|------|--------|------|
 | `id` | string | **是** | — | 节点唯一标识，links 和 children 中引用此值 |
 | `class` | string | **是** | — | 对应注册表名（设备/资源 YAML 的 key），容器可为 `null` |
 | `name` | string | 否 | 同 `id` | 显示名称，缺省时自动用 `id` |
 | `type` | string | 否 | `"device"` | 节点类型（见下表），缺省时自动设为 `"device"` |
 | `children` | string[] | 否 | `[]` | 子节点 ID 列表 |
 | `parent` | string\|null | 否 | `null` | 父节点 ID，顶层设备为 `null` |
 | `position` | object | 否 | `{x:0,y:0,z:0}` | 空间坐标 |
 | `config` | object | 否 | `{}` | 传给驱动 `__init__` 的参数 |
 | `data` | object | 否 | `{}` | 初始运行状态 |
 | `size_x/y/z` | float | 否 | — | 节点物理尺寸（工作站节点常用） |
 > 非标准字段（如 `api_host`）会自动移入 `config`。
 ### 节点类型
 | `type` | 用途 | `class` 要求 |
 |--------|------|-------------|
 | `device` | 设备（默认） | 注册表中的设备名 |
 | `deck` | 工作台面 | Deck 工厂函数/类名 |
 | `container` | 容器（烧瓶、反应釜） | `null` 或具体容器类名 |
 ### 设备节点模板
 ```json
 {
    "id": "my_device",
    "name": "我的设备",
    "children": [],
    "parent": null,
    "type": "device",
    "class": "registry_device_name",
    "position": {"x": 0, "y": 0, "z": 0},
    "config": {
        "port": "/dev/ttyUSB0",
        "baudrate": 115200
    },
    "data": {
        "status": "Idle"
    }
 }
 ```
 ### 容器节点模板
 容器用于协议系统中表示试剂瓶、反应釜等，`class` 通常为 `null`：
 ```json
 {
    "id": "flask_DMF",
    "name": "DMF试剂瓶",
    "children": [],
    "parent": "my_station",
    "type": "container",
    "class": null,
    "position": {"x": 200, "y": 500, "z": 0},
    "config": {"max_volume": 1000.0},
    "data": {
        "liquid": [{"liquid_type": "DMF", "liquid_volume": 800.0}]
    }
 }
 ```
 ### Deck 节点模板
 ```json
 {
    "id": "my_deck",
    "name": "my_deck",
    "children": [],
    "parent": "my_station",
    "type": "deck",
    "class": "MyStation_Deck",
    "position": {"x": 0, "y": 0, "z": 0},
    "config": {
        "type": "MyStation_Deck",
        "setup": true,
        "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}
    },
    "data": {}
 }
 ```
 ---
 ## 第四步：定义 Links
 ### Link 字段
 | 字段 | 类型 | 说明 |
 |------|------|------|
 | `source` | string | 源节点 ID |
 | `target` | string | 目标节点 ID |
 | `type` | string | `"physical"` / `"fluid"` / `"communication"` |
 | `port` | object | 端口映射 `{source_id: "port_name", target_id: "port_name"}` |
 ### 物理/流体连接
 设备间的管道连接，协议系统用此查找路径：
 ```json
 {
    "source": "multiway_valve_1",
    "target": "flask_DMF",
    "type": "fluid",
    "port": {
        "multiway_valve_1": "2",
        "flask_DMF": "outlet"
    }
 }
 ```
 ### 通信连接
 设备间的串口/IO 通信代理，加载时自动将端口信息写入目标设备 config：
 ```json
 {
    "source": "pump_1",
    "target": "serial_device",
    "type": "communication",
    "port": {
        "pump_1": "port",
        "serial_device": "port"
    }
 }
 ```
 ---
 ## 第五步：父子关系与工作站配置
 ### 工作站 + 子设备
 工作站节点的 `children` 列出所有子节点 ID，子节点的 `parent` 指向工作站：
 ```json
 {
    "id": "my_station",
    "children": ["my_deck", "pump_1", "valve_1", "reactor_1"],
    "parent": null,
    "type": "device",
    "class": "workstation",
    "config": {
        "protocol_type": ["PumpTransferProtocol", "CleanProtocol"]
    }
 }
 ```
 ### 工作站 + Deck 引用
 工作站节点中通过 `deck` 字段引用 Deck：
 ```json
 {
    "id": "my_station",
    "children": ["my_deck", "sub_device_1"],
    "deck": {
        "data": {
            "_resource_child_name": "my_deck",
            "_resource_type": "unilabos.resources.my_module.decks:MyDeck"
        }
    }
 }
 ```
 **关键约束：**
 - `_resource_child_name` 必须与 Deck 节点的 `id` 一致
 - `_resource_type` 为 Deck 类/工厂函数的完整 Python 路径
 ---
 ## 常见图模式
 ### 模式 A：单设备调试
 最简形式，一个设备节点，无连接：
 ```json
 {
    "nodes": [
        {
            "id": "my_device",
            "name": "my_device",
            "children": [],
            "parent": null,
            "type": "device",
            "class": "motor.zdt_x42",
            "position": {"x": 0, "y": 0, "z": 0},
            "config": {"port": "/dev/ttyUSB0", "baudrate": 115200},
            "data": {"status": "idle"}
        }
    ],
    "links": []
 }
 ```
 ### 模式 B：Protocol 工作站（泵+阀+容器）
 工作站配合泵、阀、容器和物理连接，用于协议编译：
 ```json
 {
    "nodes": [
        {
            "id": "station", "name": "协议工作站",
            "class": "workstation", "type": "device", "parent": null,
            "children": ["pump", "valve", "flask_solvent", "reactor", "waste"],
            "config": {"protocol_type": ["PumpTransferProtocol"]}
        },
        {"id": "pump", "name": "转移泵", "class": "virtual_transfer_pump",
         "type": "device", "parent": "station",
         "config": {"port": "VIRTUAL", "max_volume": 25.0},
         "data": {"status": "Idle", "position": 0.0, "valve_position": "0"}},
        {"id": "valve", "name": "多通阀", "class": "virtual_multiway_valve",
         "type": "device", "parent": "station",
         "config": {"port": "VIRTUAL", "positions": 8}},
        {"id": "flask_solvent", "name": "溶剂瓶", "type": "container",
         "class": null, "parent": "station",
         "config": {"max_volume": 1000.0},
         "data": {"liquid": [{"liquid_type": "DMF", "liquid_volume": 500}]}},
        {"id": "reactor", "name": "反应器", "type": "container",
         "class": null, "parent": "station"},
        {"id": "waste", "name": "废液瓶", "type": "container",
         "class": null, "parent": "station"}
    ],
    "links": [
        {"source": "pump", "target": "valve", "type": "fluid",
         "port": {"pump": "transferpump", "valve": "transferpump"}},
        {"source": "valve", "target": "flask_solvent", "type": "fluid",
         "port": {"valve": "1", "flask_solvent": "outlet"}},
        {"source": "valve", "target": "reactor", "type": "fluid",
         "port": {"valve": "2", "reactor": "inlet"}},
        {"source": "valve", "target": "waste", "type": "fluid",
         "port": {"valve": "3", "waste": "inlet"}}
    ]
 }
 ```
 ### 模式 C：外部系统工作站 + Deck
 ```json
 {
    "nodes": [
        {
            "id": "bioyond_station", "class": "reaction_station.bioyond",
            "parent": null, "children": ["bioyond_deck"],
            "config": {
                "api_host": "http://192.168.1.100:8080",
                "api_key": "YOUR_KEY",
                "material_type_mappings": {},
                "warehouse_mapping": {}
            },
            "deck": {
                "data": {
                    "_resource_child_name": "bioyond_deck",
                    "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
                }
            }
        },
        {
            "id": "bioyond_deck", "class": "BIOYOND_PolymerReactionStation_Deck",
            "parent": "bioyond_station", "type": "deck",
            "config": {"type": "BIOYOND_PolymerReactionStation_Deck", "setup": true}
        }
    ],
    "links": []
 }
 ```
 ### 模式 D：通信代理（串口设备）
 泵通过串口设备通信，使用 `communication` 类型的 link。加载时系统会自动将串口端口信息写入泵的 `config`：
 ```json
 {
    "nodes": [
        {"id": "station", "name": "工作站", "type": "device",
         "class": "workstation", "parent": null,
         "children": ["serial_1", "pump_1"]},
        {"id": "serial_1", "name": "串口", "type": "device",
         "class": "serial", "parent": "station",
         "config": {"port": "COM7", "baudrate": 9600}},
        {"id": "pump_1", "name": "注射泵", "type": "device",
         "class": "syringe_pump_with_valve.runze.SY03B-T08", "parent": "station"}
    ],
    "links": [
        {"source": "pump_1", "target": "serial_1", "type": "communication",
         "port": {"pump_1": "port", "serial_1": "port"}}
    ]
 }
 ```
 ---
 ## 验证
 ```bash
 # 启动测试
 unilab -g unilabos/test/experiments/<name>.json --complete_registry
 # 仅检查注册表
 python -m unilabos --check_mode --skip_env_check
 ```
 ---
 ## 高级模式
 处理复杂图文件时，详见 [reference.md](reference.md)：ResourceDict 完整字段 schema、Pose 标准化规则、Handle 验证机制、GraphML 格式支持、外部系统工作站完整 config 结构。
 ---
 ## 常见错误
 | 错误 | 原因 | 修复 |
 |------|------|------|
 | `class` 找不到 | 注册表中无此设备名 | 在 `unilabos/registry/devices/` 或 `resources/` 中搜索正确名称 |
 | children/parent 不一致 | 子节点 `parent` 与父节点 `children` 不匹配 | 确保双向一致 |
 | `_resource_child_name` 不匹配 | Deck 引用名与 Deck 节点 `id` 不同 | 保持一致 |
 | Link 端口错误 | `port` 中的 key 不是 source/target 的 `id` | key 必须是对应节点的 `id` |
 | 重复 UUID | 多个节点有相同 `uuid` | 删除或修改 UUID |
 ---
 ## 参考路径
 | 内容 | 路径 |
 |------|------|
 | 图文件目录 | `unilabos/test/experiments/` |
 | 协议测试站 | `unilabos/test/experiments/Protocol_Test_Station/` |
 | 图加载代码 | `unilabos/resources/graphio.py` |
 | 节点模型 | `unilabos/resources/resource_tracker.py` |
 | 设备注册表 | `unilabos/registry/devices/` |
 | 资源注册表 | `unilabos/registry/resources/` |
 | 用户文档 | `docs/user_guide/graph_files.md` |
--- a/.cursor/skills/edit-experiment-graph/reference.md
+++ b/.cursor/skills/edit-experiment-graph/reference.md
@@ -1,255 +0,0 @@
 # 实验图高级参考
 本文件是 SKILL.md 的补充，包含 ResourceDict 完整 schema、Handle 验证、GraphML 格式、Pose 标准化规则和复杂图文件结构。Agent 在需要处理这些场景时按需阅读。
 ---
 ## 1. ResourceDict 完整字段
 `unilabos/resources/resource_tracker.py` 中定义的节点数据模型：
 | 字段 | 类型 | 别名 | 说明 |
 |------|------|------|------|
 | `id` | `str` | — | 节点唯一标识 |
 | `uuid` | `str` | — | 全局唯一标识 |
 | `name` | `str` | — | 显示名称 |
 | `description` | `str` | — | 描述（默认 `""` ） |
 | `resource_schema` | `Dict[str, Any]` | `schema` | 资源 schema |
 | `model` | `Dict[str, Any]` | — | 3D 模型信息 |
 | `icon` | `str` | — | 图标（默认 `""` ） |
 | `parent_uuid` | `Optional[str]` | — | 父节点 UUID |
 | `parent` | `Optional[ResourceDict]` | — | 父节点引用（序列化时 exclude） |
 | `type` | `Union[Literal["device"], str]` | — | 节点类型 |
 | `klass` | `str` | `class` | 注册表类名 |
 | `pose` | `ResourceDictPosition` | — | 位姿信息 |
 | `config` | `Dict[str, Any]` | — | 配置参数 |
 | `data` | `Dict[str, Any]` | — | 运行时数据 |
 | `extra` | `Dict[str, Any]` | — | 扩展数据 |
 ### Pose 完整结构（ResourceDictPosition）
 | 字段 | 类型 | 默认值 | 说明 |
 |------|------|--------|------|
 | `size` | `{width, height, depth}` | `{0,0,0}` | 节点尺寸 |
 | `scale` | `{x, y, z}` | `{1,1,1}` | 缩放比例 |
 | `layout` | `"2d"/"x-y"/"z-y"/"x-z"` | `"x-y"` | 布局方向 |
 | `position` | `{x, y, z}` | `{0,0,0}` | 2D 位置 |
 | `position3d` | `{x, y, z}` | `{0,0,0}` | 3D 位置 |
 | `rotation` | `{x, y, z}` | `{0,0,0}` | 旋转角度 |
 | `cross_section_type` | `"rectangle"/"circle"/"rounded_rectangle"` | `"rectangle"` | 横截面形状 |
 ---
 ## 2. Position / Pose 标准化规则
 图文件中的 `position` 有多种写法，加载时自动标准化。
 ### 输入格式兼容
 ```json
 // 格式 A: 直接 {x, y, z}（最常用）
 "position": {"x": 100, "y": 200, "z": 0}
 // 格式 B: 嵌套 position
 "position": {"position": {"x": 100, "y": 200, "z": 0}}
 // 格式 C: 使用 pose 字段
 "pose": {"position": {"x": 100, "y": 200, "z": 0}}
 // 格式 D: 顶层 x, y, z（无 position 字段）
 "x": 100, "y": 200, "z": 0
 ```
 ### 标准化流程
 1. **graphio.py `canonicalize_nodes_data`**：若 `position` 不是 dict，从节点顶层提取 `x/y/z` 填入 `pose.position`
 2. **resource_tracker.py `get_resource_instance_from_dict`**：若 `position.x` 存在（旧格式），转为 `{"position": {"x":..., "y":..., "z":...}}`
 3. `pose.size` 从 `config.size_x/size_y/size_z` 自动填充
 ---
 ## 3. Handle 验证
 启动时系统验证 link 中的 `sourceHandle` / `targetHandle` 是否在注册表的 `handles` 中定义。
 ```python
 # unilabos/app/main.py (约 449-481 行)
 source_handler_keys = [
    h["handler_key"] for h in materials[source_node.klass]["handles"]
    if h["io_type"] == "source"
 ]
 target_handler_keys = [
    h["handler_key"] for h in materials[target_node.klass]["handles"]
    if h["io_type"] == "target"
 ]
 if source_handle not in source_handler_keys:
    print_status(f"节点 {source_node.id} 的source端点 {source_handle} 不存在", "error")
    resource_edge_info.pop(...)  # 移除非法 link
 ```
 **Handle 定义在注册表 YAML 中：**
 ```yaml
 my_device:
  handles:
  - handler_key: access
    io_type: target
    data_type: fluid
    side: NORTH
    label: access
 ```
 > 大多数简单设备不定义 handles，此验证仅对有 `sourceHandle`/`targetHandle` 的 link 生效。
 ---
 ## 4. GraphML 格式支持
 除 JSON 外，系统也支持 GraphML 格式（`unilabos/resources/graphio.py::read_graphml`）。
 ### 与 JSON 的关键差异
 | 特性 | JSON | GraphML |
 |------|------|---------|
 | 父子关系 | `parent`/`children` 字段 | `::` 分隔的节点 ID（如 `station::pump_1`） |
 | 加载后 | 直接解析 | 先 `nx.read_graphml` 再转 JSON 格式 |
 | 输出 | 不生成副本 | 自动生成等价的 `.json` 文件 |
 ### GraphML 转换流程
 ```
 nx.read_graphml(file)
    ↓ 用 label 重映射节点名
    ↓ 从 "::" 推断 parent_relation
 nx.relabel_nodes + nx.node_link_data
    ↓ canonicalize_nodes_data + canonicalize_links_ports
    ↓ 写出等价 JSON 文件
 physical_setup_graph + handle_communications
 ```
 ---
 ## 5. 复杂图文件结构示例
 ### 外部系统工作站完整 config
 以 `reaction_station_bioyond.json` 为例，工作站 `config` 中的关键字段：
 ```json
 {
    "config": {
        "api_key": "DE9BDDA0",
        "api_host": "http://172.21.103.36:45388",
        "workflow_mappings": {
            "scheduler_start": {"workflow": "start", "params": {}},
            "create_order": {"workflow": "create_order", "params": {}}
        },
        "material_type_mappings": {
            "BIOYOND_PolymerStation_Reactor": ["反应器", "type-uuid-here"],
            "BIOYOND_PolymerStation_1BottleCarrier": ["试剂瓶", "type-uuid-here"]
        },
        "warehouse_mapping": {
            "堆栈1左": {
                "uuid": "warehouse-uuid-here",
                "site_uuids": {
                    "A01": "site-uuid-1",
                    "A02": "site-uuid-2"
                }
            }
        },
        "http_service_config": {
            "enabled": true,
            "host": "0.0.0.0",
            "port": 45399,
            "routes": ["/callback/workflow", "/callback/material"]
        },
        "deck": {
            "data": {
                "_resource_child_name": "Bioyond_Deck",
                "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
            }
        },
        "size_x": 2700.0,
        "size_y": 1080.0,
        "size_z": 2500.0,
        "protocol_type": [],
        "data": {}
    }
 }
 ```
 ### 子设备 Reactor 节点
 ```json
 {
    "id": "reactor_1",
    "name": "reactor_1",
    "parent": "reaction_station_bioyond",
    "type": "device",
    "class": "bioyond_reactor",
    "position": {"x": 1150, "y": 300, "z": 0},
    "config": {
        "reactor_index": 0,
        "bioyond_workflow_key": "reactor_1"
    },
    "data": {}
 }
 ```
 ### Deck 节点
 ```json
 {
    "id": "Bioyond_Deck",
    "name": "Bioyond_Deck",
    "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": {}
 }
 ```
 ---
 ## 6. Link 端口标准化
 `graphio.py::canonicalize_links_ports` 处理 `port` 字段的多种格式：
 ```python
 # 输入: 字符串格式 "(A,B)"
 "port": "(pump_1, valve_1)"
 # 输出: 字典格式
 "port": {"source_id": "pump_1", "target_id": "valve_1"}
 # 输入: 已是字典
 "port": {"pump_1": "port", "serial_1": "port"}
 # 保持不变
 # 输入: 无 port 字段
 # 自动补充空 port
 ```
 ---
 ## 7. 关键路径
 | 内容 | 路径 |
 |------|------|
 | ResourceDict 模型 | `unilabos/resources/resource_tracker.py` |
 | 图加载 + 标准化 | `unilabos/resources/graphio.py` |
 | Handle 验证 | `unilabos/app/main.py` (449-481 行) |
 | 反应站图文件 | `unilabos/test/experiments/reaction_station_bioyond.json` |
 | 配液站图文件 | `unilabos/test/experiments/dispensing_station_bioyond.json` |
 | 用户文档 | `docs/user_guide/graph_files.md` |
--- a/.cursorignore
+++ b/.cursorignore
@@ -1,188 +0,0 @@
 # ============================================================
 # Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
 # ============================================================
 # ==================== 敏感配置文件 ====================
 # 本地配置（可能包含密钥）
 **/local_config.py
 test_config.py
 local_test*.py
 # 环境变量和密钥
 .env
 .env.*
 **/.certs/
 *.pem
 *.key
 credentials.json
 secrets.yaml
 # ==================== 二进制和 3D 模型文件 ====================
 # 3D 模型文件（无需索引）
 *.stl
 *.dae
 *.glb
 *.gltf
 *.obj
 *.fbx
 *.blend
 # URDF/Xacro 机器人描述文件（大型XML）
 *.xacro
 # 图片文件
 *.png
 *.jpg
 *.jpeg
 *.gif
 *.webp
 *.ico
 *.svg
 *.bmp
 # 压缩包
 *.zip
 *.tar
 *.tar.gz
 *.tgz
 *.bz2
 *.rar
 *.7z
 # ==================== Python 生成文件 ====================
 __pycache__/
 *.py[cod]
 *$py.class
 *.so
 *.pyd
 *.egg
 *.egg-info/
 .eggs/
 dist/
 build/
 *.manifest
 *.spec
 # ==================== IDE 和编辑器 ====================
 .idea/
 .vscode/
 *.swp
 *.swo
 *~
 .#*
 # ==================== 测试和覆盖率 ====================
 .pytest_cache/
 .coverage
 .coverage.*
 htmlcov/
 .tox/
 .nox/
 coverage.xml
 *.cover
 # ==================== 虚拟环境 ====================
 .venv/
 venv/
 env/
 ENV/
 # ==================== ROS 2 生成文件 ====================
 # ROS 构建目录
 build/
 install/
 log/
 logs/
 devel/
 # ROS 消息生成
 msg_gen/
 srv_gen/
 msg/*Action.msg
 msg/*ActionFeedback.msg
 msg/*ActionGoal.msg
 msg/*ActionResult.msg
 msg/*Feedback.msg
 msg/*Goal.msg
 msg/*Result.msg
 msg/_*.py
 srv/_*.py
 build_isolated/
 devel_isolated/
 # ROS 动态配置
 *.cfgc
 /cfg/cpp/
 /cfg/*.py
 # ==================== 项目特定目录 ====================
 # 工作数据目录
 unilabos_data/
 # 临时和输出目录
 temp/
 output/
 cursor_docs/
 configs/
 # 文档构建
 docs/_build/
 /site
 # ==================== 大型数据文件 ====================
 # 点云数据
 *.pcd
 # GraphML 图形文件
 *.graphml
 # 日志文件
 *.log
 # 数据库
 *.sqlite3
 *.db
 # Jupyter 检查点
 .ipynb_checkpoints/
 # ==================== 设备网格资源 ====================
 # 3D 网格文件目录（包含大量 STL/DAE 文件）
 unilabos/device_mesh/devices/**/*.stl
 unilabos/device_mesh/devices/**/*.dae
 unilabos/device_mesh/resources/**/*.stl
 unilabos/device_mesh/resources/**/*.glb
 unilabos/device_mesh/resources/**/*.xacro
 # RViz 配置
 *.rviz
 # ==================== 系统文件 ====================
 .DS_Store
 Thumbs.db
 desktop.ini
 # ==================== 锁文件 ====================
 poetry.lock
 Pipfile.lock
 pdm.lock
 package-lock.json
 yarn.lock
 # ==================== 类型检查缓存 ====================
 .mypy_cache/
 .dmypy.json
 .pytype/
 .pyre/
 pyrightconfig.json
 # ==================== 其他 ====================
 # Catkin
 CATKIN_IGNORE
 # Eclipse/Qt
 .project
 .cproject
 CMakeLists.txt.user
 *.user
 qtcreator-*
--- a/.github/copilot-instructions.md
+++ b/.github/copilot-instructions.md
@@ -1,11 +0,0 @@
 ## 设备接入
 当被要求添加设备驱动时，参考 `docs/ai_guides/add_device.md`。
 该指南包含完整的模板和已有设备接口参考。
 ## 关键规则
 - 动作方法的参数名是接口契约，不可重命名
 - `status` 字符串必须与同类已有设备一致
 - `self.data` 必须在 `__init__` 中预填充所有属性字段
 - 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()`
--- a/.github/workflows/ci-check.yml
+++ b/.github/workflows/ci-check.yml
@@ -49,7 +49,7 @@ jobs:
          uv pip uninstall enum34 || echo enum34 not installed, skipping
          uv pip install .
-      - name: Run check mode (complete_registry)
+      - name: Run check mode (AST registry validation)
        run: |
          call conda activate check-env
          echo Running check mode...
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,7 @@ output/
 unilabos_data/
 pyrightconfig.json
 .cursorignore
 device_package*/
 ## Python
 # Byte-compiled / optimized / DLL files
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -1,21 +1,87 @@
-# Uni-Lab-OS AI Agent 指南
+# AGENTS.md
-## 设备接入
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
-当用户要求添加/接入新设备时，读取 `docs/ai_guides/add_device.md` 并按其流程执行。
+Also follow the monorepo-level rules in `../AGENTS.md`.
 该指南完全自包含，包含物模型模板、现有设备接口快照、常见错误和验证清单。
-## 关键规则
+## Build & Development
- 动作方法的参数名是接口契约，不可重命名（如 `volume` 不能改为 `volume_ml`）
+```bash
- `status` 字符串必须与同类已有设备一致（如 `"Idle"` 不能改为 `"就绪"`）
+# Install in editable mode (requires mamba env with python 3.11)
- `self.data` 必须在 `__init__` 中预填充所有属性字段
+pip install -e .
- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()` 和 `asyncio.sleep()`
+uv pip install -r unilabos/utils/requirements.txt
-## 项目结构
+# 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
- 设备驱动：`unilabos/devices/<category>/<device_name>.py`
+# Common CLI flags
- 设备注册表：`unilabos/registry/devices/<device_name>.yaml`
+unilab --app_bridges websocket fastapi    # communication bridges
- 实验图文件：`unilabos/test/experiments/*.json`
+unilab --test_mode                        # simulate hardware, no real execution
- 人类开发文档：`docs/developer_guide/`
+unilab --check_mode                       # CI validation of registry imports
- AI 专用指南：`docs/ai_guides/`
+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
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -1,14 +1,4 @@
 # Uni-Lab-OS
-## 设备接入
+Please follow the rules defined in:
-读取 `docs/ai_guides/add_device.md` 获取完整的自包含指南。
+@AGENTS.md
 如果可以访问仓库，优先搜索 `unilabos/registry/devices/` 获取最新设备接口；
 否则使用指南中内联的「现有设备接口快照」。
 ## 关键规则
 - 动作方法的参数名是接口契约，不可重命名（如 `volume` 不能改为 `volume_ml`）
 - `status` 字符串必须与同类已有设备一致（如 `"Idle"` 不能改为 `"就绪"`）
 - `self.data` 必须在 `__init__` 中预填充所有属性字段
 - 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()` 和 `asyncio.sleep()`
--- a/docs/ai_guides/add_device.md
+++ b/docs/ai_guides/add_device.md
--- a/docs/ai_guides/agent_prompt_template.md
+++ b/docs/ai_guides/agent_prompt_template.md
@@ -1,344 +0,0 @@
 # Uni-Lab-OS 设备接入 Agent — 提示词模板
 > 本文件提供一套可直接复制使用的 Agent 系统提示词，以及各平台的配置说明。
 > 提示词模板与 `add_device.md`（领域知识）配合使用，前者控制 Agent 行为，后者提供完整的技术细节。
 ---
 ## 系统提示词模板
 以下内容可直接作为系统提示词 / Instructions / Custom Instructions 使用。`{{...}}` 标记的变量根据平台替换。
 ---
 ### 开始复制 ↓
 ```
 你是 Uni-Lab-OS 设备接入专家。你的任务是帮助用户将新的实验室硬件设备接入 Uni-Lab-OS 系统。
 你能做的事：
 - 根据用户描述，生成完整的设备驱动代码（Python）、注册表（YAML）和实验图文件（JSON）
 - 解读用户提供的通信协议文档、SDK 代码、或口述的指令格式
 - 诊断已有驱动代码的接口对齐问题
 你不能做的事：
 - 凭空猜测硬件私有通信指令（必须从用户提供的资料中获取）
 - 替代真实硬件联调测试
 ## 知识来源
 {{KNOWLEDGE_LOADING}}
 ## 工作流程
 当用户要求接入新设备时，严格按以下流程执行。每个暂停点必须等待用户确认后再继续。
 ### 阶段 1：设备画像（交互）
 向用户收集以下三个信息，可以一次性提问：
 1. **设备类别** — 属于以下哪一种？
   - temperature（温控）、pump_and_valve（泵阀）、motor（电机）
   - heaterstirrer（加热搅拌）、balance（天平）、sensor（传感器）
   - liquid_handling（液体处理）、robot_arm（机械臂）、workstation（工作站）
   - virtual（虚拟设备）、custom（自定义）
   - 如果是 pump_and_valve，进一步确认子类型：注射泵 / 电磁阀 / 蠕动泵
 2. **设备英文名称** — 用于文件名和类名（如 my_heater、runze_sy03b）
 3. **通信协议** — Serial(RS232/RS485) / Modbus RTU / Modbus TCP / TCP Socket / HTTP API / OPC UA / 无通信（虚拟）
 ⏸️ **暂停：等待用户回答后继续**
 ### 阶段 2：指令协议收集（交互）
 根据上一步确定的通信协议，引导用户提供指令信息：
 - 如果用户有 **SDK/驱动代码**：请用户提供代码文件，你从中提取通信逻辑
 - 如果用户有 **协议文档**：请用户提供文档（PDF/图片/文本），你从中解析指令格式
 - 如果用户 **口头描述**：针对每个标准动作逐一确认硬件指令
 - 如果是 **标准协议**（Modbus 寄存器表、SCPI）：请用户提供寄存器/指令映射
 - 如果是 **虚拟设备**：跳过此阶段
 ⏸️ **暂停：确认已获取足够的指令协议信息**
 ### 阶段 3：确认摘要
 在开始生成代码前，向用户展示你的理解摘要：
 ```
 设备接入摘要：
 - 设备名称：<name>
 - 设备类别：<category>（<subtype>）
 - 通信协议：<protocol>
 - 指令来源：<source>
 - 将要实现的属性：<list>
 - 将要实现的动作：<list>
 - 同类已有设备：<existing>（将对齐其接口）
 ```
 ⏸️ **暂停：用户确认"没问题"后再生成代码**
 ### 阶段 4：自动生成（无需暂停）
 按以下顺序自动执行：
 1. **对齐同类设备接口**（指南第四步）
   - 查阅指南中的「现有设备接口快照」或搜索仓库注册表
   - 确保所有已有设备的 status_types 和动作方法都被覆盖
   - 参数名必须完全一致
 2. **生成驱动代码** — `unilabos/devices/<category>/<name>.py`
 3. **生成注册表** — `unilabos/registry/devices/<name>.yaml`（最小配置）
 4. **生成图文件** — `unilabos/test/experiments/graph_example_<name>.json`
 ### 阶段 5：验证输出
 生成完成后，逐项检查对齐验证清单并展示结果：
 ```
 对齐验证清单：
 - [x] 所有动作方法的参数名与已有设备完全一致
 - [x] status 属性返回的字符串值与已有设备一致
 - [x] 已有设备的所有 status_types 字段都有对应 @property
 - [x] 已有设备的所有非 auto- 前缀的 action 都有对应方法
 - [x] self.data 在 __init__ 中已预填充所有属性字段的默认值
 - [x] 串口/二进制协议的响应解析先定位帧起始标记
 ```
 如果有未通过的项，主动修复后再展示。
 ## 硬约束（违反任何一条都会导致设备接入失败）
 1. **禁止重命名参数** — 动作方法的参数名（如 volume、position、max_velocity）是接口契约，框架通过参数名分派调用。绝不能加后缀（如 volume_ml）、改名（如 speed_ml_s）。单位写在 docstring 中。
 2. **status 字符串必须一致** — 如果同类已有设备用英文（如 "Idle" / "Busy"），新驱动必须用相同的字符串，不能改为中文（如 "就绪"）。
 3. **self.data 必须预填充** — 不能用空字典 {}。框架在 initialize() 之前就可能读取属性值。每个 @property 对应的键都必须在 __init__ 中有初始值。
 4. **禁止跳过接口对齐** — 对齐同类设备接口是强制步骤。缺失的属性和动作会导致设备在工作流中不可互换。
 5. **串口解析先找帧头** — RS-485 总线上响应前常有回声/噪声字节。必须先定位帧起始标记（如 /、0xFE），禁止用硬编码索引直接解析。
 6. **异步等待用 _ros_node.sleep** — 在 async 方法中使用 await self._ros_node.sleep()，禁止 time.sleep()（阻塞事件循环）和 asyncio.sleep()。
 7. **物理单位对外暴露** — 对外参数使用用户友好的物理单位（mL、°C、RPM），驱动内部负责转换到硬件原始值（步数、Hz、寄存器值）。
 ## 代码骨架参考
 所有设备驱动遵循以下结构：
 ```python
 import logging
 import time as time_module
 from typing import Dict, Any
 try:
    from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 except ImportError:
    BaseROS2DeviceNode = None
 class MyDevice:
    _ros_node: "BaseROS2DeviceNode"
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        if device_id is None and 'id' in kwargs:
            device_id = kwargs.pop('id')
        if config is None and 'config' in kwargs:
            config = kwargs.pop('config')
        self.device_id = device_id or "unknown_device"
        self.config = config or {}
        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
        self.data = {
            "status": "Idle",
            # 所有 @property 的键都必须在此预填充
        }
    def post_init(self, ros_node: "BaseROS2DeviceNode"):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        self.data["status"] = "Idle"
        return True
    async def cleanup(self) -> bool:
        self.data["status"] = "Offline"
        return True
    @property
    def status(self) -> str:
        return self.data.get("status", "Idle")
 ```
 ## 注册表最小配置
 ```yaml
 my_device:
  class:
    module: unilabos.devices.<category>.<file>:MyDevice
    type: python
 ```
 启动时 --complete_registry 自动生成 status_types 和 action_value_mappings。
 ## 图文件模板
 ```json
 {
    "nodes": [
        {
            "id": "my_device_1",
            "name": "设备名称",
            "children": [],
            "parent": null,
            "type": "device",
            "class": "my_device",
            "position": {"x": 0, "y": 0, "z": 0},
            "config": {},
            "data": {}
        }
    ]
 }
 ```
 ## 现有设备接口快照（对齐用）
 对齐时参考以下已有设备接口。如果能联网，优先从 GitHub 获取最新版本：
 https://github.com/dptech-corp/Uni-Lab-OS/tree/main/unilabos/registry/devices/
 ### pump_and_valve — 注射泵
 已有设备：syringe_pump_with_valve.runze.SY03B-T06
 属性：status(str, "Idle"/"Busy"), valve_position(str), position(float, mL), max_velocity(float, mL/s), mode(int), plunger_position(String), velocity_grade(String), velocity_init(String), velocity_end(String)
 方法签名（参数名不可改）：
 - initialize()
 - set_valve_position(position)
 - set_position(position: float, max_velocity: float = None)
 - pull_plunger(volume: float)
 - push_plunger(volume: float)
 - set_max_velocity(velocity: float)
 - set_velocity_grade(velocity)
 - stop_operation()
 ### pump_and_valve — 电磁阀
 属性：status(str), valve_position(str)
 方法：open(), close(), set_valve_position(position), is_open(), is_closed()
 ### temperature
 属性：status(str), temp(float, °C), temp_target(float, °C), stir_speed(float, RPM), temp_warning(float, °C)
 ### motor
 属性：status(str), position(int)
 ### sensor
 属性：level(bool), rssi(int)
 ```
 ### 结束复制 ↑
 ---
 ## `{{KNOWLEDGE_LOADING}}` 变量替换
 根据平台能力，将提示词中的 `{{KNOWLEDGE_LOADING}}` 替换为以下对应内容：
 ### 方案 A：有知识库（Custom GPT / Claude Project）
 ```
 你的知识库中包含 add_device.md 文件，这是完整的设备接入指南。
 执行工作流时，参考该文件获取物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
 本提示词中的「现有设备接口快照」和「硬约束」是从指南中提炼的关键内容，以确保即使知识库检索不完整也能正确工作。
 ```
 ### 方案 B：有联网能力
 ```
 执行工作流前，从以下 URL 获取完整的设备接入指南：
 https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md
 该指南包含物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
 如果无法访问 URL，使用本提示词中内联的「现有设备接口快照」和「代码骨架参考」作为兜底。
 ```
 ### 方案 C：无知识库、无联网
 ```
 完整的设备接入指南需要用户在对话中提供。
 如果用户未主动提供，请在阶段 1 开始前询问：
 "请将 add_device.md 的内容粘贴到对话中，或上传该文件。如果没有该文件，我将使用内置的精简规则工作。"
 本提示词已内联了最关键的内容（硬约束 + 代码骨架 + 接口快照），足以生成基本正确的驱动。
 但完整指南包含更多物模型模板和通信协议代码片段，能显著提升生成质量。
 ```
 ---
 ## 各平台配置指南
 ### OpenAI Custom GPT
 1. 进入 https://chat.openai.com/gpts/editor
 2. **Name**：Uni-Lab-OS 设备接入助手
 3. **Description**：帮助用户将实验室硬件设备接入 Uni-Lab-OS 系统，自动生成驱动代码、注册表和图文件。
 4. **Instructions**：粘贴上方系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
 5. **Knowledge**：上传 `docs/ai_guides/add_device.md`
 6. **Capabilities**：开启 Code Interpreter（用于代码验证）
 7. **Conversation starters**：
   - "我要接入一个新的注射泵"
   - "帮我把这个 SDK 包装成 UniLab 驱动"
   - "检查我的设备驱动有没有接口问题"
 ### Claude Project
 1. 创建新 Project
 2. **Custom Instructions**：粘贴系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
 3. **Project Knowledge**：上传 `docs/ai_guides/add_device.md`
 ### API Agent（LangChain / AutoGen / 自建框架）
 ```python
 system_prompt = """
 <粘贴完整系统提示词，{{KNOWLEDGE_LOADING}} 替换为方案 B>
 """
 # 如果框架支持工具调用，可注册以下工具：
 tools = [
    {
        "name": "fetch_device_guide",
        "description": "获取最新的 Uni-Lab-OS 设备接入指南",
        "url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md"
    },
    {
        "name": "fetch_registry",
        "description": "获取最新的设备注册表",
        "url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/unilabos/registry/devices/{category}.yaml"
    },
 ]
 ```
 ### Cursor Agent Mode
 无需使用本模板。Cursor 中使用已有的 `.cursor/skills/add-device/SKILL.md`，它会自动读取 `docs/ai_guides/add_device.md` 并利用 Cursor 的工具能力（Grep 搜索注册表、AskQuestion 收集信息等）。
 ### 纯网页对话（ChatGPT / Claude 无 Project）
 1. 第一条消息粘贴系统提示词（`{{KNOWLEDGE_LOADING}}` 替换为方案 C）
 2. 第二条消息上传或粘贴 `add_device.md`
 3. 第三条消息开始描述设备
 ---
 ## 维护说明
 - **硬约束更新**：如果 `add_device.md` 中新增了禁止事项或常见错误，需要同步更新本模板的「硬约束」部分
 - **接口快照更新**：新增设备类别或已有设备接口变更时，需要同步更新本模板的「现有设备接口快照」部分
 - **工作流调整**：如果接入流程发生变化（新增步骤、合并步骤），需要同步调整「工作流程」部分
 - 本模板与 `add_device.md` 是**互补关系**：模板定义 Agent 行为，指南提供领域知识。两者独立维护
--- a/docs/developer_guide/add_device.md
+++ b/docs/developer_guide/add_device.md
@@ -15,6 +15,9 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
 **示例：**
 ```python
 from unilabos.registry.decorators import device, topic_config
@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
 class MockGripper:
    def __init__(self):
        self._position: float = 0.0
@@ -23,19 +26,23 @@ class MockGripper:
        self._status = "Idle"
    @property
    @topic_config()  # 添加 @topic_config 才会定时广播
    def position(self) -> float:
        return self._position
    @property
    @topic_config()
    def velocity(self) -> float:
        return self._velocity
    @property
    @topic_config()
    def torque(self) -> float:
        return self._torque
-    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
+    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
    @property
    @topic_config(period=2.0)  # 可自定义发布周期
    def status(self) -> str:
        return self._status
@@ -149,7 +156,7 @@ my_device: # 设备唯一标识符
 系统会自动分析您的 Python 驱动类并生成：
- `status_types`：从 `@property` 装饰的方法自动识别状态属性
+- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
 - `action_value_mappings`：从类方法自动生成动作映射
 - `init_param_schema`：从 `__init__` 方法分析初始化参数
 - `schema`：前端显示用的属性类型定义
@@ -179,7 +186,9 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
 ```python
 from typing import Dict, Any
 from unilabos.registry.decorators import device, topic_config
@device(id="my_device", category=["general"], description="My Device")
 class MyDevice:
    """设备类文档字符串
@@ -198,8 +207,9 @@ class MyDevice:
        # 初始化硬件连接
    @property
    @topic_config()  # 必须添加 @topic_config 才会广播
    def status(self) -> str:
-        """设备状态（会自动广播）"""
+        """设备状态（通过 @topic_config 广播）"""
        return self._status
    def my_action(self, param: float) -> Dict[str, Any]:
@@ -217,34 +227,61 @@ class MyDevice:
 ## 状态属性 vs 动作方法
-### 状态属性（@property）
+### 状态属性（@property + @topic_config）
-状态属性会被自动识别并定期广播：
+状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
 ```python
 from unilabos.registry.decorators import topic_config
@property
@topic_config()  # 必须添加，否则不会广播
 def temperature(self) -> float:
    """当前温度"""
    return self._read_temperature()
@property
@topic_config(period=2.0)  # 可自定义发布周期（秒）
 def status(self) -> str:
    """设备状态: idle, running, error"""
    return self._status
@property
@topic_config(name="ready")  # 可自定义发布名称
 def is_ready(self) -> bool:
    """设备是否就绪"""
    return self._status == "idle"
 ```
 也可以使用普通方法（非 @property）配合 `@topic_config`：
 ```python
@topic_config(period=10.0)
 def get_sensor_data(self) -> Dict[str, float]:
    """获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
    return {"temp": self._temp, "humidity": self._humidity}
 ```
 **`@topic_config` 参数**:
 | 参数 | 类型 | 默认值 | 说明 |
 |------|------|--------|------|
 | `period` | float | 5.0 | 发布周期（秒） |
 | `print_publish` | bool | 节点默认 | 是否打印发布日志 |
 | `qos` | int | 10 | QoS 深度 |
 | `name` | str | None | 自定义发布名称 |
 **发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
 **特点**:
- 使用`@property`装饰器
+- 必须使用 `@topic_config` 装饰器
- 只读，不能有参数
+- 支持 `@property` 和普通方法
- 自动添加到注册表的`status_types`
+- 添加到注册表的 `status_types`
 - 定期发布到 ROS2 topic
 > **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
 ### 动作方法
 动作方法是设备可以执行的操作：
@@ -497,6 +534,7 @@ class LiquidHandler:
        self._status = "idle"
    @property
    @topic_config()
    def status(self) -> str:
        return self._status
@@ -886,7 +924,52 @@ class MyDevice:
 ## 最佳实践
-### 1. 类型注解
+### 1. 使用 `@device` 装饰器标识设备类
 ```python
 from unilabos.registry.decorators import device
@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
 class MyDevice:
    ...
 ```
 - `id`：设备唯一标识符，用于注册表匹配
 - `category`：分类列表，前端用于分组显示
 - `description`：设备描述
 - `icon`：图标文件名（可选）
 ### 2. 使用 `@topic_config` 声明需要广播的状态
 ```python
 from unilabos.registry.decorators import topic_config
 # ✓ @property + @topic_config → 会广播
@property
@topic_config(period=2.0)
 def temperature(self) -> float:
    return self._temp
 # ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
@topic_config(period=10.0)
 def get_sensor_data(self) -> Dict[str, float]:
    return {"temp": self._temp}
 # ✓ 使用 name 参数自定义发布名称
@property
@topic_config(name="ready")
 def is_ready(self) -> bool:
    return self._status == "idle"
 # ✗ 仅有 @property，没有 @topic_config → 不会广播
@property
 def internal_state(self) -> str:
    return self._state
 ```
 > **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
 ### 3. 类型注解
 ```python
 from typing import Dict, Any, Optional, List
@@ -901,7 +984,7 @@ def method(
    pass
 ```
-### 2. 文档字符串
+### 4. 文档字符串
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]:
    pass
 ```
-### 3. 配置验证
+### 5. 配置验证
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]):
    self.baudrate = config['baudrate']
 ```
-### 4. 资源清理
+### 6. 资源清理
 ```python
 def __del__(self):
@@ -946,7 +1029,7 @@ def __del__(self):
        self.connection.close()
 ```
-### 5. 设计前端友好的返回值
+### 7. 设计前端友好的返回值
 **记住：返回值会直接显示在 Web 界面**
--- a/docs/developer_guide/add_registry.md
+++ b/docs/developer_guide/add_registry.md
@@ -422,18 +422,20 @@ placeholder_keys:
 ### status_types
-系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
+系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
 ```yaml
 status_types:
-  current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
+  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
-  is_heating: bool # 从 get_is_heating() 或 @property is_heating
+  is_heating: bool
-  status: str # 从 get_status() 或 @property status
+  status: str
 ```
 **注意事项**：
- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
+- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
 - 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
 - `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
@@ -537,11 +539,13 @@ class AdvancedLiquidHandler:
        self._temperature = 25.0
    @property
    @topic_config()
    def status(self) -> str:
        """设备状态"""
        return self._status
    @property
    @topic_config()
    def temperature(self) -> float:
        """当前温度"""
        return self._temperature
@@ -809,21 +813,23 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 ```python
-from unilabos.common.device_base import DeviceBase
+from unilabos.registry.decorators import device, topic_config
-class MyDevice(DeviceBase):
+@device(id="my_device", category=["temperature"], description="My Device")
 class MyDevice:
    def __init__(self, config):
        """初始化，参数会自动分析到 init_param_schema.config"""
        super().__init__(config)
        self.port = config.get('port', '/dev/ttyUSB0')
-    # 状态方法（会自动生成到 status_types）
+    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
    @property
    @topic_config()
    def status(self):
        """返回设备状态"""
        return "idle"
    @property
    @topic_config()
    def temperature(self):
        """返回当前温度"""
        return 25.0
@@ -1039,7 +1045,34 @@ resource.type      # "resource"
 ### 代码规范
-1. **始终使用类型注解**
+1. **使用 `@device` 装饰器标识设备类**
 ```python
 from unilabos.registry.decorators import device
@device(id="my_device", category=["heating"], description="My Device")
 class MyDevice:
    ...
 ```
 2. **使用 `@topic_config` 声明广播属性**
 ```python
 from unilabos.registry.decorators import topic_config
 # ✓ 需要广播的状态属性
@property
@topic_config(period=2.0)
 def temperature(self) -> float:
    return self._temp
 # ✗ 仅有 @property 不会广播
@property
 def internal_counter(self) -> int:
    return self._counter
 ```
 3. **始终使用类型注解**
 ```python
 # ✓ 好
@@ -1051,7 +1084,7 @@ def method(self, resource, device):
    pass
 ```
-2. **提供有意义的参数名**
+4. **提供有意义的参数名**
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
    pass
 ```
-3. **使用 Optional 表示可选参数**
+5. **使用 Optional 表示可选参数**
 ```python
 from typing import Optional
@@ -1076,7 +1109,7 @@ def method(
    pass
 ```
-4. **添加详细的文档字符串**
+6. **添加详细的文档字符串**
 ```python
 def method(
@@ -1096,13 +1129,13 @@ def method(
    pass
 ```
-5. **方法命名规范**
+7. **方法命名规范**
-   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
+   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
   - 动作方法使用动词开头
   - 保持命名清晰、一致
-6. **完善的错误处理**
+8. **完善的错误处理**
   - 实现完善的错误处理
   - 添加日志记录
   - 提供有意义的错误信息
--- a/docs/developer_guide/networking_overview.md
+++ b/docs/developer_guide/networking_overview.md
@@ -221,10 +221,10 @@ Laboratory A    Laboratory B
 ```bash
 # 实验室A
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 ```
 ---
--- a/docs/user_guide/launch.md
+++ b/docs/user_guide/launch.md
@@ -22,7 +22,6 @@ options:
  --is_slave            Run the backend as slave node (without host privileges).
  --slave_no_host       Skip waiting for host service in slave mode
  --upload_registry     Upload registry information when starting unilab
  --use_remote_resource Use remote resources when starting unilab
  --config CONFIG       Configuration file path, supports .py format Python config files
  --port PORT           Port for web service information page
  --disable_browser     Disable opening information page on startup
@@ -85,7 +84,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
 支持两种方式：
 - **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
- **远程资源**：使用 `--use_remote_resource` 从云端获取
+- **远程资源**：不指定本地文件即可
 ### 7. 注册表构建
@@ -196,7 +195,7 @@ unilab --config path/to/your/config.py
 unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 # 使用远程资源启动
-unilab --ak your_ak --sk your_sk --use_remote_resource
+unilab --ak your_ak --sk your_sk
 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -4,6 +4,7 @@ import os
 import platform
 import shutil
 import signal
 import subprocess
 import sys
 import threading
 import time
@@ -25,6 +26,84 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 _restart_requested: bool = False
 _restart_reason: str = ""
 RESTART_EXIT_CODE = 42
 def _build_child_argv():
    """Build sys.argv for child process, stripping supervisor-only arguments."""
    result = []
    skip_next = False
    for arg in sys.argv:
        if skip_next:
            skip_next = False
            continue
        if arg in ("--restart_mode", "--restart-mode"):
            continue
        if arg in ("--auto_restart_count", "--auto-restart-count"):
            skip_next = True
            continue
        if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
            continue
        result.append(arg)
    return result
 def _run_as_supervisor(max_restarts: int):
    """
    Supervisor process that spawns and monitors child processes.
    Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
    it only launches the real process as a child and restarts it when the child
    exits with RESTART_EXIT_CODE.
    """
    child_argv = [sys.executable] + _build_child_argv()
    restart_count = 0
    print_status(
        f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
        f"child command: {' '.join(child_argv)}",
        "info",
    )
    while True:
        print_status(
            f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
            "info",
        )
        try:
            process = subprocess.Popen(child_argv)
            exit_code = process.wait()
        except KeyboardInterrupt:
            print_status("[Supervisor] Interrupted, terminating child process...", "info")
            process.terminate()
            try:
                process.wait(timeout=10)
            except subprocess.TimeoutExpired:
                process.kill()
                process.wait()
            sys.exit(1)
        if exit_code == RESTART_EXIT_CODE:
            restart_count += 1
            if restart_count > max_restarts:
                print_status(
                    f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
                    "warning",
                )
                sys.exit(1)
            print_status(
                f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
                "info",
            )
            time.sleep(2)
        else:
            if exit_code != 0:
                print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
            else:
                print_status("[Supervisor] Child exited normally", "info")
            sys.exit(exit_code)
 def load_config_from_file(config_path):
    if config_path is None:
@@ -66,6 +145,13 @@ def parse_args():
        action="append",
        help="Path to the registry directory",
    )
    parser.add_argument(
        "--devices",
        type=str,
        default=None,
        action="append",
        help="Path to Python code directory for AST-based device/resource scanning",
    )
    parser.add_argument(
        "--working_dir",
        type=str,
@@ -155,12 +241,6 @@ def parse_args():
        action="store_true",
        help="Skip environment dependency check on startup",
    )
    parser.add_argument(
        "--complete_registry",
        action="store_true",
        default=False,
        help="Complete registry information",
    )
    parser.add_argument(
        "--check_mode",
        action="store_true",
@@ -178,6 +258,24 @@ def parse_args():
        default=False,
        help="Test mode: all actions simulate execution and return mock results without running real hardware",
    )
    parser.add_argument(
        "--extra_resource",
        action="store_true",
        default=False,
        help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
    )
    parser.add_argument(
        "--restart_mode",
        action="store_true",
        default=False,
        help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
    )
    parser.add_argument(
        "--auto_restart_count",
        type=int,
        default=500,
        help="Maximum number of automatic restarts in restart mode (default: 500)",
    )
    # workflow upload subcommand
    workflow_parser = subparsers.add_parser(
        "workflow_upload",
@@ -228,6 +326,11 @@ 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)
@@ -358,6 +461,9 @@ def main():
    BasicConfig.test_mode = args_dict.get("test_mode", False)
    if BasicConfig.test_mode:
        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
    BasicConfig.extra_resource = args_dict.get("extra_resource", False)
    if BasicConfig.extra_resource:
        print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
    BasicConfig.communication_protocol = "websocket"
    machine_name = platform.node()
    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
@@ -382,22 +488,30 @@ def main():
    # 显示启动横幅
    print_unilab_banner(args_dict)
-    # 注册表 - check_mode 时强制启用 complete_registry
+    # Step 0: AST 分析优先 + YAML 注册表加载
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    # check_mode 和 upload_registry 都会执行实际 import 验证
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+    devices_dirs = args_dict.get("devices", None)
    lab_registry = build_registry(
        registry_paths=args_dict["registry_path"],
        devices_dirs=devices_dirs,
        upload_registry=BasicConfig.upload_registry,
        check_mode=check_mode,
    )
-    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
+    # Check mode: 注册表验证完成后直接退出
    if check_mode:
-        print_status("Check mode: complete_registry 完成，退出", "info")
+        device_count = len(lab_registry.device_type_registry)
        resource_count = len(lab_registry.resource_type_registry)
        print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
        os._exit(0)
    # 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:
@@ -482,7 +596,7 @@ def main():
            continue
    # 如果从远端获取了物料信息，则与本地物料进行同步
-    if request_startup_json and "nodes" in request_startup_json:
+    if file_path is not None and request_startup_json and "nodes" in request_startup_json:
        print_status("开始同步远端物料到本地...", "info")
        remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
        resource_tree_set.merge_remote_resources(remote_tree_set)
@@ -579,6 +693,10 @@ def main():
            open_browser=not args_dict["disable_browser"],
            port=BasicConfig.port,
        )
        if restart_requested:
            print_status("[Main] Restart requested, cleaning up...", "info")
            cleanup_for_restart()
            os._exit(RESTART_EXIT_CODE)
 if __name__ == "__main__":
--- a/unilabos/app/register.py
+++ b/unilabos/app/register.py
@@ -1,60 +1,83 @@
 import json
 import time
-from typing import Optional, Tuple, Dict, Any
+from typing import Any, Dict, Optional, Tuple
 from unilabos.utils.log import logger
 from unilabos.utils.type_check import TypeEncoder
 try:
    import orjson
    def _normalize_device(info: dict) -> dict:
        """Serialize via orjson to strip non-JSON types (type objects etc.)."""
        return orjson.loads(orjson.dumps(info, default=str))
 except ImportError:
    def _normalize_device(info: dict) -> dict:
        return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
    """
    注册设备和资源到服务器（仅支持HTTP）
    """
    # 注册资源信息 - 使用HTTP方式
    from unilabos.app.web.client import http_client
    logger.info("[UniLab Register] 开始注册设备和资源...")
    # 注册设备信息
    devices_to_register = {}
    for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = json.loads(
+        devices_to_register[device_info["id"]] = _normalize_device(device_info)
-            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
+        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
        )
        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.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
    if gather_only:
        return devices_to_register, resources_to_register
-    # 注册设备
+
    if devices_to_register:
        try:
            start_time = time.time()
-            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
+            response = http_client.resource_registry(
                {"resources": list(devices_to_register.values())},
                tag="device_registry",
            )
            cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
+            res_data = response.json() if response.status_code == 200 else {}
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
+            skipped = res_data.get("data", {}).get("skipped", False)
            if skipped:
                logger.info(
                    f"[UniLab Register] 设备注册跳过（内容未变化）"
                    f" {len(devices_to_register)} 个 {cost_time:.3f}s"
                )
            elif response.status_code in [200, 201]:
                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
            else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
        except Exception as e:
            logger.error(f"[UniLab Register] 设备注册异常: {e}")
    # 注册资源
    if resources_to_register:
        try:
            start_time = time.time()
-            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
+            response = http_client.resource_registry(
                {"resources": list(resources_to_register.values())},
                tag="resource_registry",
            )
            cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
+            res_data = response.json() if response.status_code == 200 else {}
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
+            skipped = res_data.get("data", {}).get("skipped", False)
            if skipped:
                logger.info(
                    f"[UniLab Register] 资源注册跳过（内容未变化）"
                    f" {len(resources_to_register)} 个 {cost_time:.3f}s"
                )
            elif response.status_code in [200, 201]:
                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
            else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
        except Exception as e:
            logger.error(f"[UniLab Register] 资源注册异常: {e}")
    logger.info("[UniLab Register] 设备和资源注册完成.")
--- a/unilabos/app/web/api.py
+++ b/unilabos/app/web/api.py
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
                                "result": {},
                                "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
                                "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": [],
+                                "handles": {},
                            }
                            # 不生成已配置action的动作
                            for k, v in enhanced_info["action_methods"].items()
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
    # 启动广播任务
    @app.on_event("startup")
    async def startup_event():
-        asyncio.create_task(broadcast_device_status())
+        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
-        asyncio.create_task(broadcast_status_page_data())
+        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -8,6 +8,25 @@ import json
 import os
 from typing import List, Dict, Any, Optional
 try:
    import orjson as _json_fast
    def _fast_dumps(obj, **kwargs) -> bytes:
        return _json_fast.dumps(obj, option=_json_fast.OPT_NON_STR_KEYS, default=str)
    def _fast_dumps_pretty(obj, **kwargs) -> bytes:
        return _json_fast.dumps(
            obj, option=_json_fast.OPT_NON_STR_KEYS | _json_fast.OPT_INDENT_2, default=str,
        )
 except ImportError:
    _json_fast = None  # type: ignore[assignment]
    def _fast_dumps(obj, **kwargs) -> bytes:
        return json.dumps(obj, ensure_ascii=False, default=str).encode("utf-8")
    def _fast_dumps_pretty(obj, **kwargs) -> bytes:
        return json.dumps(obj, indent=2, ensure_ascii=False, default=str).encode("utf-8")
 import requests
 from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
@@ -280,29 +299,54 @@ class HTTPClient:
            )
        return response
-    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
+    def resource_registry(
        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
    ) -> requests.Response:
        """
-        注册资源到服务器
+        注册资源到服务器，同步保存请求/响应到 unilabos_data
        Args:
            registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
            tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
        Returns:
            Response: API响应对象
        """
-        compressed_body = gzip.compress(
+        # 序列化一次，同时用于保存和发送
-            json.dumps(registry_data, ensure_ascii=False, default=str).encode("utf-8")
+        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=headers,
                "Authorization": f"Lab {self.auth}",
                "Content-Type": "application/json",
                "Content-Encoding": "gzip",
            },
            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:
--- a/unilabos/app/web/server.py
+++ b/unilabos/app/web/server.py
@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
    # 设置页面路由
    try:
        setup_web_pages(pages)
-        info("[Web] 已加载Web UI模块")
+        # info("[Web] 已加载Web UI模块")
    except ImportError as e:
        info(f"[Web] 未找到Web页面模块: {str(e)}")
    except Exception as e:
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
    server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
    server_thread.start()
-    info("[Web] Server started, monitoring for restart requests...")
+    # info("[Web] Server started, monitoring for restart requests...")
    # 监控重启标志
    import unilabos.app.main as main_module
--- a/unilabos/app/ws_client.py
+++ b/unilabos/app/ws_client.py
@@ -26,6 +26,7 @@ from enum import Enum
 from typing_extensions import TypedDict
 from unilabos.app.model import JobAddReq
 from unilabos.resources.resource_tracker import ResourceDictType
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.app.communication import BaseCommunicationClient
@@ -408,6 +409,7 @@ class MessageProcessor:
        # 线程控制
        self.is_running = False
        self.thread = None
        self._loop = None  # asyncio event loop引用，用于外部关闭websocket
        self.reconnect_count = 0
        logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
@@ -434,22 +436,31 @@ class MessageProcessor:
    def stop(self) -> None:
        """停止消息处理线程"""
        self.is_running = False
        # 主动关闭websocket以快速中断消息接收循环
        ws = self.websocket
        loop = self._loop
        if ws and loop and loop.is_running():
            try:
                asyncio.run_coroutine_threadsafe(ws.close(), loop)
            except Exception:
                pass
        if self.thread and self.thread.is_alive():
            self.thread.join(timeout=2)
        logger.info("[MessageProcessor] Stopped")
    def _run(self):
        """运行消息处理主循环"""
-        loop = asyncio.new_event_loop()
+        self._loop = asyncio.new_event_loop()
        try:
-            asyncio.set_event_loop(loop)
+            asyncio.set_event_loop(self._loop)
-            loop.run_until_complete(self._connection_handler())
+            self._loop.run_until_complete(self._connection_handler())
        except Exception as e:
            logger.error(f"[MessageProcessor] Thread error: {str(e)}")
            logger.error(traceback.format_exc())
        finally:
-            if loop:
+            if self._loop:
-                loop.close()
+                self._loop.close()
            self._loop = None
    async def _connection_handler(self):
        """处理WebSocket连接和重连逻辑"""
@@ -469,6 +480,7 @@ class MessageProcessor:
                    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}",
@@ -479,42 +491,45 @@ class MessageProcessor:
                    self.connected = True
                    self.reconnect_count = 0
-                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
                    # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler())
+                    send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
                    # 每次连接（含重连）后重新向服务端注册，
                    # 否则服务端不知道客户端已上线，不会推送消息。
                    if self.websocket_client:
                        self.websocket_client.publish_host_ready()
                    try:
                        # 接收消息循环
                        await self._message_handler()
                    finally:
                        # 必须在 async with __aexit__ 之前停止 send_task，
                        # 否则 send_task 会在关闭握手期间继续发送数据，
                        # 干扰 websockets 库的内部清理，导致 task 泄漏。
                        self.connected = False
                        send_task.cancel()
                        try:
                            await send_task
                        except asyncio.CancelledError:
                            pass
                        self.connected = False
            except websockets.exceptions.ConnectionClosed:
-                logger.warning("[MessageProcessor] Connection closed")
+                logger.warning("[MessageProcessor] 与服务端连接中断")
                self.connected = False
            except TimeoutError:
                logger.warning(
-                    f"[MessageProcessor] Connection timeout (attempt {self.reconnect_count + 1}), "
+                    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"
                    f"server may be temporarily unavailable"
                )
                self.connected = False
            except websockets.exceptions.InvalidStatus as e:
                logger.warning(
-                    f"[MessageProcessor] Server returned unexpected HTTP status {e.response.status_code}, "
+                    f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
                    f"WebSocket endpoint may not be ready yet"
                )
                self.connected = False
            except Exception as e:
                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
                logger.error(traceback.format_exc())
-                self.connected = False
+                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
            finally:
                self.connected = False
                self.websocket = None
            # 重连逻辑
@@ -522,10 +537,9 @@ class MessageProcessor:
                break
            if self.reconnect_count < WSConfig.max_reconnect_attempts:
                self.reconnect_count += 1
-                backoff = min(WSConfig.reconnect_interval * (2 ** (self.reconnect_count - 1)), 60)
+                backoff = WSConfig.reconnect_interval
                logger.info(
-                    f"[MessageProcessor] Reconnecting in {backoff}s "
+                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                )
                await asyncio.sleep(backoff)
            else:
@@ -533,40 +547,38 @@ class MessageProcessor:
                break
    async def _message_handler(self):
-        """处理接收到的消息"""
+        """处理接收到的消息。
        ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
        以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
        正确清理内部 task，避免 task 泄漏。
        """
        if not self.websocket:
            logger.error("[MessageProcessor] WebSocket connection is None")
            return
-        try:
+        async for message in self.websocket:
-            async for message in self.websocket:
+            try:
-                try:
+                data = json.loads(message)
-                    data = json.loads(message)
+                message_type = data.get("action", "")
-                    message_type = data.get("action", "")
+                message_data = data.get("data")
-                    message_data = data.get("data")
+                if self.session_id and self.session_id == data.get("edge_session"):
-                    if self.session_id and self.session_id == data.get("edge_session"):
+                    await self._process_message(message_type, message_data)
-                        await self._process_message(message_type, message_data)
+                else:
                    if message_type.endswith("_material"):
                        logger.trace(
                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
                        )
                        logger.debug(
                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
                        )
                    else:
-                        if message_type.endswith("_material"):
+                        await self._process_message(message_type, message_data)
-                            logger.trace(
+            except json.JSONDecodeError:
-                                f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
+                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-                            )
+            except Exception as e:
-                            logger.debug(
+                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                                f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
+                logger.error(traceback.format_exc())
                            )
                        else:
                            await self._process_message(message_type, message_data)
                except json.JSONDecodeError:
                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
                except Exception as e:
                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
                    logger.error(traceback.format_exc())
        except websockets.exceptions.ConnectionClosed:
            logger.info("[MessageProcessor] Message handler stopped - connection closed")
        except Exception as e:
            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
            logger.error(traceback.format_exc())
    async def _send_handler(self):
        """处理发送队列中的消息"""
@@ -615,6 +627,7 @@ class MessageProcessor:
        except asyncio.CancelledError:
            logger.debug("[MessageProcessor] Send handler cancelled")
            raise
        except Exception as e:
            logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
            logger.error(traceback.format_exc())
@@ -646,6 +659,10 @@ class MessageProcessor:
            # elif message_type == "session_id":
            #     self.session_id = message_data.get("session_id")
            #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
            elif message_type == "add_device":
                await self._handle_device_manage(message_data, "add")
            elif message_type == "remove_device":
                await self._handle_device_manage(message_data, "remove")
            elif message_type == "request_restart":
                await self._handle_request_restart(message_data)
            else:
@@ -982,6 +999,37 @@ class MessageProcessor:
            )
            thread.start()
    async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
        """Handle add_device / remove_device from LabGo server."""
        if not device_list:
            return
        for item in device_list:
            target_node_id = item.get("target_node_id", "host_node")
            def _notify(target_id: str, act: str, cfg: ResourceDictType):
                try:
                    host_node = HostNode.get_instance(timeout=5)
                    if not host_node:
                        logger.error(f"[DeviceManage] HostNode not available for {act}_device")
                        return
                    success = host_node.notify_device_manage(target_id, act, cfg)
                    if success:
                        logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
                    else:
                        logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
                except Exception as e:
                    logger.error(f"[DeviceManage] Error in {act}_device: {e}")
                    logger.error(traceback.format_exc())
            thread = threading.Thread(
                target=_notify,
                args=(target_node_id, action, item),
                daemon=True,
                name=f"DeviceManage-{action}-{item.get('id', '')}",
            )
            thread.start()
    async def _handle_request_restart(self, data: Dict[str, Any]):
        """
        处理重启请求
@@ -993,10 +1041,9 @@ class MessageProcessor:
        logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
        # 发送确认消息
-        if self.websocket_client:
+        self.send_message(
-            await self.websocket_client.send_message(
+            {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+        )
            )
        # 设置全局重启标志
        import unilabos.app.main as main_module
@@ -1098,6 +1145,7 @@ class QueueProcessor:
    def stop(self) -> None:
        """停止队列处理线程"""
        self.is_running = False
        self.queue_update_event.set()  # 立即唤醒等待中的线程
        if self.thread and self.thread.is_alive():
            self.thread.join(timeout=2)
        logger.info("[QueueProcessor] Stopped")
@@ -1351,8 +1399,8 @@ class WebSocketClient(BaseCommunicationClient):
                message = {"action": "normal_exit", "data": {"session_id": session_id}}
                self.message_processor.send_message(message)
                logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
-                # 给一点时间让消息发送出去
+                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
-                time.sleep(1)
+                time.sleep(0.3)
            except Exception as e:
                logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
--- a/unilabos/config/config.py
+++ b/unilabos/config/config.py
@@ -24,6 +24,7 @@ class BasicConfig:
    port = 8002  # 本地HTTP服务
    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
    extra_resource = False  # 是否加载lab_开头的额外资源
    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
@@ -40,7 +41,7 @@ class BasicConfig:
 class WSConfig:
    reconnect_interval = 5  # 重连间隔（秒）
    max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
+    ping_interval = 20  # ping间隔（秒）
 # HTTP配置
--- a/unilabos/device_comms/universal_driver.py
+++ b/unilabos/device_comms/universal_driver.py
@@ -1,4 +1,3 @@
 from abc import abstractmethod
 from functools import wraps
 import inspect
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
@@ -57,18 +57,6 @@ class TransferLiquidReturn(TypedDict):
    targets: List[List[ResourceDict]]
 class SetLiquidReturn(TypedDict):
    wells: list
    volumes: list
 class SetLiquidFromPlateReturn(TypedDict):
    plate: list
    wells: list
    volumes: list
 class LiquidHandlerMiddleware(LiquidHandler):
    def __init__(
        self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -634,7 +634,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
    def __init__(
        self,
-        deck: Deck,
+        deck: PRCXI9300Deck,
        host: str,
        port: int,
        timeout: float,
@@ -648,11 +648,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
        is_9320=False,
    ):
        tablets_info = []
-        count = 0
+        for site_id in range(len(deck.sites)):
-        for child in deck.children:
+            child = deck._get_site_resource(site_id)
            # 如果放其他类型的物料，是不可以的
            if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
-                number = int(child.name.replace("T", ""))
+                number = site_id + 1
                tablets_info.append(
                    WorkTablets(
                        Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
--- a/unilabos/devices/motor/ZDT_X42.py
+++ b/unilabos/devices/motor/ZDT_X42.py
@@ -1,376 +0,0 @@
 # -*- coding: utf-8 -*-
 """
 ZDT X42 Closed-Loop Stepper Motor Driver
 RS485 Serial Communication via USB-Serial Converter
 - Baudrate: 115200
 """
 import serial
 import time
 import threading
 import struct
 import logging
 from typing import Optional, Any
 try:
    from unilabos.device_comms.universal_driver import UniversalDriver
 except ImportError:
    class UniversalDriver:
        def __init__(self, *args, **kwargs):
            self.logger = logging.getLogger(self.__class__.__name__)
        def execute_command_from_outer(self, command: Any): pass
 from serial.rs485 import RS485Settings
 class ZDTX42Driver(UniversalDriver):
    """
    ZDT X42 闭环步进电机驱动器
    支持功能:
    - 速度模式运行
    - 位置模式运行 (相对/绝对)
    - 位置读取和清零
    - 使能/禁用控制
    通信协议:
    - 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
    - 响应长度根据功能码决定
    """
    def __init__(
        self,
        port: str,
        baudrate: int = 115200,
        device_id: int = 1,
        timeout: float = 0.5,
        debug: bool = False
    ):
        """
        初始化 ZDT X42 电机驱动
        Args:
            port: 串口设备路径
            baudrate: 波特率 (默认 115200)
            device_id: 设备地址 (1-255)
            timeout: 通信超时时间(秒)
            debug: 是否启用调试输出
        """
        super().__init__()
        self.id = device_id
        self.debug = debug
        self.lock = threading.RLock()
        self.status = "idle"         # 对应注册表中的 status (str)
        self.position = 0             # 对应注册表中的 position (int)
        try:
            self.ser = serial.Serial(
                port=port,
                baudrate=baudrate,
                timeout=timeout,
                bytesize=serial.EIGHTBITS,
                parity=serial.PARITY_NONE,
                stopbits=serial.STOPBITS_ONE
            )
            # 启用 RS485 模式
            try:
                self.ser.rs485_mode = RS485Settings(
                    rts_level_for_tx=True,
                    rts_level_for_rx=False
                )
            except Exception:
                pass  # RS485 模式是可选的
            self.logger.info(
                f"ZDT X42 Motor connected: {port} "
                f"(Baud: {baudrate}, ID: {device_id})"
            )
            # 自动使能电机，确保初始状态可运动
            self.enable(True)
            # 启动背景轮询线程，确保 position 实时刷新
            self._stop_event = threading.Event()
            self._polling_thread = threading.Thread(
                target=self._update_loop,
                name=f"ZDTPolling_{port}",
                daemon=True
            )
            self._polling_thread.start()
        except Exception as e:
            self.logger.error(f"Failed to open serial port {port}: {e}")
            self.ser = None
    def _update_loop(self):
        """背景循环读取电机位置"""
        while not self._stop_event.is_set():
            try:
                self.get_position()
            except Exception as e:
                if self.debug:
                    self.logger.error(f"Polling error: {e}")
            time.sleep(1.0) # 每1秒刷新一次位置数据
    def _send(self, func_code: int, payload: list) -> bytes:
        """
        发送指令并接收响应
        Args:
            func_code: 功能码
            payload: 数据负载 (list of bytes)
        Returns:
            响应数据 (bytes)
        """
        if not self.ser:
            self.logger.error("Serial port not available")
            return b""
        with self.lock:
            # 清空输入缓冲区
            self.ser.reset_input_buffer()
            # 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
            message = bytes([self.id, func_code] + payload + [0x6B])
            # 发送
            self.ser.write(message)
            # 根据功能码决定响应长度
            # 查询类指令返回 10 字节，控制类指令返回 4 字节
            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
            response = self.ser.read(read_len)
            # 调试输出
            if self.debug:
                sent_hex = message.hex().upper()
                recv_hex = response.hex().upper() if response else 'TIMEOUT'
                print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
            return response
    def enable(self, on: bool = True) -> bool:
        """
        使能/禁用电机
        Args:
            on: True=使能(锁轴), False=禁用(松轴)
        Returns:
            是否成功
        """
        state = 1 if on else 0
        resp = self._send(0xF3, [0xAB, state, 0])
        return len(resp) >= 4
    def move_speed(
        self,
        speed_rpm: int,
        direction: str = "CW",
        acceleration: int = 10
    ) -> bool:
        """
        速度模式运行
        Args:
            speed_rpm: 转速 (RPM)
            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
            acceleration: 加速度 (0-255)
        Returns:
            是否成功
        """
        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
        speed_bytes = struct.pack('>H', int(speed_rpm))
        self.status = f"moving@{speed_rpm}rpm"
        resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
        return len(resp) >= 4
    def move_position(
        self,
        pulses: int,
        speed_rpm: int,
        direction: str = "CW",
        acceleration: int = 10,
        absolute: bool = False
    ) -> bool:
        """
        位置模式运行
        Args:
            pulses: 脉冲数
            speed_rpm: 转速 (RPM)
            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
            acceleration: 加速度 (0-255)
            absolute: True=绝对位置, False=相对位置
        Returns:
            是否成功
        """
        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
        speed_bytes = struct.pack('>H', int(speed_rpm))
        self.status = f"moving_to_{pulses}"
        pulse_bytes = struct.pack('>I', int(pulses))
        abs_flag = 1 if absolute else 0
        payload = [
            dir_val,
            speed_bytes[0], speed_bytes[1],
            acceleration,
            pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
            abs_flag,
            0
        ]
        resp = self._send(0xFD, payload)
        return len(resp) >= 4
    def stop(self) -> bool:
        """
        停止电机
        Returns:
            是否成功
        """
        self.status = "idle"
        resp = self._send(0xFE, [0x98, 0])
        return len(resp) >= 4
    def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
        """
        电机旋转 1/4 圈 (阻塞式)
        假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
        """
        pulses = 800
        success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
        if success:
            # 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
            # 1/4 rev / (RPM/60) = 15.0 / RPM
            estimated_time = 15.0 / max(1, speed_rpm)
            time.sleep(estimated_time + 0.5)  # 额外给 0.5 秒缓冲
            self.status = "idle"
        return success
    def wait_time(self, duration_s: float) -> bool:
        """
        等待指定时间 (秒)
        """
        self.logger.info(f"Waiting for {duration_s} seconds...")
        time.sleep(duration_s)
        return True
    def set_zero(self) -> bool:
        """
        清零当前位置
        Returns:
            是否成功
        """
        resp = self._send(0x0A, [])
        return len(resp) >= 4
    def get_position(self) -> Optional[int]:
        """
        读取当前位置 (脉冲数)
        Returns:
            当前位置脉冲数，失败返回 None
        """
        resp = self._send(0x32, [])
        if len(resp) >= 8:
            # 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
            sign = resp[2]  # 0=正, 1=负
            value = struct.unpack('>I', resp[3:7])[0]
            self.position = -value if sign == 1 else value
            if self.debug:
                print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
            return self.position
        self.logger.warning("Failed to read position")
        return None
    def close(self):
        """关闭串口连接并停止线程"""
        if hasattr(self, '_stop_event'):
            self._stop_event.set()
        if self.ser and self.ser.is_open:
            self.ser.close()
            self.logger.info("Serial port closed")
 # ============================================================
 # 测试和调试代码
 # ============================================================
 def test_motor():
    """基础功能测试"""
    logging.basicConfig(level=logging.INFO)
    print("="*60)
    print("ZDT X42 电机驱动测试")
    print("="*60)
    driver = ZDTX42Driver(
        port="/dev/tty.usbserial-3110",
        baudrate=115200,
        device_id=2,
        debug=True
    )
    if not driver.ser:
        print("❌ 串口打开失败")
        return
    try:
        # 测试 1: 读取位置
        print("\n[1] 读取当前位置")
        pos = driver.get_position()
        print(f"✓ 当前位置: {pos} 脉冲")
        # 测试 2: 使能
        print("\n[2] 使能电机")
        driver.enable(True)
        time.sleep(0.3)
        print("✓ 电机已锁定")
        # 测试 3: 相对位置运动
        print("\n[3] 相对位置运动 (1000脉冲)")
        driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
        time.sleep(2)
        pos = driver.get_position()
        print(f"✓ 新位置: {pos}")
        # 测试 4: 速度运动
        print("\n[4] 速度模式 (30RPM, 3秒)")
        driver.move_speed(speed_rpm=30, direction="CW")
        time.sleep(3)
        driver.stop()
        pos = driver.get_position()
        print(f"✓ 停止后位置: {pos}")
        # 测试 5: 禁用
        print("\n[5] 禁用电机")
        driver.enable(False)
        print("✓ 电机已松开")
        print("\n" + "="*60)
        print("✅ 测试完成")
        print("="*60)
    except Exception as e:
        print(f"\n❌ 测试失败: {e}")
        import traceback
        traceback.print_exc()
    finally:
        driver.close()
 if __name__ == "__main__":
    test_motor()
--- a/unilabos/devices/separator/chinwe.py
+++ b/unilabos/devices/separator/chinwe.py
@@ -623,119 +623,6 @@ class ChinweDevice(UniversalDriver):
        time.sleep(duration)
        return True
    def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
                       max_cycles: int = 0, timeout: int = 300) -> bool:
        """
        分液步骤 - 液位传感器与电机联动
        当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
        当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
        :param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
        :param speed: 电机转速 (RPM)
        :param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
        :param max_cycles: 最大执行循环次数 (0=无限制,默认0)
        :param timeout: 整体超时时间 (秒)
        :return: 成功返回True,超时或失败返回False
        """
        motor_id = int(motor_id)
        speed = int(speed)
        pulses = int(pulses)
        max_cycles = int(max_cycles)
        timeout = int(timeout)
        # 检查电机是否存在
        if motor_id not in self.motors:
            self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
            return False
        # 检查传感器是否可用
        if not self.sensor:
            self.logger.error("Sensor not initialized")
            return False
        motor = self.motors[motor_id]
        # 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
        self.logger.info("Stopping polling thread for separation_step...")
        self._stop_event.set()
        if self._poll_thread and self._poll_thread.is_alive():
            self._poll_thread.join(timeout=2.0)
        # 使能电机
        self.logger.info(f"Enabling motor {motor_id}...")
        motor.enable(True)
        time.sleep(0.2)
        self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
                        f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
        # 记录上一次的液位状态
        last_level = None
        cycle_count = 0
        start_time = time.time()
        error_count = 0
        try:
            while True:
                # 检查超时
                if time.time() - start_time > timeout:
                    self.logger.warning(f"Separation step timeout after {timeout} seconds")
                    return False
                # 检查循环次数限制
                if max_cycles > 0 and cycle_count >= max_cycles:
                    self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
                    return True
                # 读取传感器数据
                data = self.sensor.read_level()
                if data is None:
                    error_count += 1
                    if error_count > 5:
                        self.logger.warning("Sensor read failed multiple times, retrying...")
                        error_count = 0
                    time.sleep(0.5)
                    continue
                error_count = 0
                current_level = data['level']
                rssi = data['rssi']
                # 检测状态变化 (包括首次检测)
                if current_level != last_level:
                    cycle_count += 1
                    if current_level:
                        # 有液 -> 电机顺时针旋转
                        self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
                                       f"rotating motor {motor_id} clockwise {pulses} pulses")
                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
                        # 等待电机完成 (预估时间)
                        estimated_time = 15.0 / max(1, speed)
                        time.sleep(estimated_time + 0.5)
                    else:
                        # 无液 -> 电机逆时针旋转
                        self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
                                       f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
                        # 等待电机完成 (预估时间)
                        estimated_time = 15.0 / max(1, speed)
                        time.sleep(estimated_time + 0.5)
                # 更新状态
                last_level = current_level
                # 轮询间隔
                time.sleep(0.1)
        finally:
            # 恢复轮询线程
            self.logger.info("Restarting polling thread...")
            self._start_polling()
    def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
        """支持标准 JSON 指令调用"""
        return super().execute_command_from_outer(command_dict)
--- a/unilabos/devices/separator/xkc_sensor.py
+++ b/unilabos/devices/separator/xkc_sensor.py
@@ -1,379 +0,0 @@
 # -*- coding: utf-8 -*-
 """
 XKC RS485 液位传感器 (Modbus RTU)
 说明:
    1. 遵循 Modbus-RTU 协议。
    2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
    3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
    4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
 """
 import struct
 import threading
 import time
 import logging
 import serial
 from typing import Optional, Dict, Any, List
 from unilabos.device_comms.universal_driver import UniversalDriver
 class TransportManager:
    """
    统一通信管理类。
    仅支持 串口 (Serial/有线) 连接。
    """
    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
        self.port = port
        self.baudrate = baudrate
        self.timeout = timeout
        self.logger = logger
        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
        self.serial = None
        self._connect_serial()
    def _connect_serial(self):
        try:
            self.serial = serial.Serial(
                port=self.port,
                baudrate=self.baudrate,
                timeout=self.timeout
            )
        except Exception as e:
            raise ConnectionError(f"Serial open failed: {e}")
    def close(self):
        """关闭连接"""
        if self.serial and self.serial.is_open:
            self.serial.close()
    def clear_buffer(self):
        """清空缓冲区 (Thread-safe)"""
        with self.lock:
            if self.serial:
                self.serial.reset_input_buffer()
    def write(self, data: bytes):
        """发送原始字节"""
        with self.lock:
            if self.serial:
                self.serial.write(data)
    def read(self, size: int) -> bytes:
        """读取指定长度字节"""
        if self.serial:
            return self.serial.read(size)
        return b''
 class XKCSensorDriver(UniversalDriver):
    """XKC RS485 液位传感器 (Modbus RTU)"""
    def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
                 threshold: int = 300, timeout: float = 3.0, debug: bool = False):
        super().__init__()
        self.port = port
        self.baudrate = baudrate
        self.device_id = device_id
        self.threshold = threshold
        self.timeout = timeout
        self.debug = debug
        self.level = False
        self.rssi = 0
        self.status = {"level": self.level, "rssi": self.rssi}
        try:
            self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
            self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
        except Exception as e:
            self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
            self.transport = None
        # 启动背景轮询线程，确保 status 实时刷新
        self._stop_event = threading.Event()
        self._polling_thread = threading.Thread(
            target=self._update_loop,
            name=f"XKCPolling_{port}",
            daemon=True
        )
        if self.transport:
            self._polling_thread.start()
    def _update_loop(self):
        """背景循环读取传感器数据"""
        while not self._stop_event.is_set():
            try:
                self.read_level()
            except Exception as e:
                if self.debug:
                    self.logger.error(f"Polling error: {e}")
            time.sleep(2.0) # 每2秒刷新一次数据
    def _crc(self, data: bytes) -> bytes:
        crc = 0xFFFF
        for byte in data:
            crc ^= byte
            for _ in range(8):
                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
                else: crc >>= 1
        return struct.pack('<H', crc)
    def read_level(self) -> Optional[Dict[str, Any]]:
        """
        读取液位。
        返回: {'level': bool, 'rssi': int}
        """
        if not self.transport:
            return None
        with self.transport.lock:
            self.transport.clear_buffer()
            # Modbus Read Registers: 01 03 00 01 00 02 CRC
            payload = struct.pack('>HH', 0x0001, 0x0002)
            msg = struct.pack('BB', self.device_id, 0x03) + payload
            msg += self._crc(msg)
            if self.debug:
                self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
            self.transport.write(msg)
            # Read header
            h = self.transport.read(3) # Addr, Func, Len
            if self.debug:
                self.logger.info(f"RX Header: {h.hex().upper()}")
            if len(h) < 3: return None
            length = h[2]
            # Read body + CRC
            body = self.transport.read(length + 2)
            if self.debug:
                self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
            if len(body) < length + 2:
                # Firmware bug fix specific to some modules
                if len(body) == 4 and length == 4:
                    pass
                else:
                    return None
            data = body[:-2]
            # 根据手册说明:
            # 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
            # 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
            hw_level = False
            rssi = 0
            if len(data) >= 4:
                hw_level = ((data[0] << 8) | data[1]) == 1
                rssi = (data[2] << 8) | data[3]
            elif len(data) == 2:
                # 兼容模式: 某些老固件可能只返回 1 个寄存器
                rssi = (data[0] << 8) | data[1]
                hw_level = rssi > self.threshold
            else:
                return None
            # 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
            # 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
            self.level = hw_level or (rssi > self.threshold)
            self.rssi = rssi
            result = {
                'level': self.level,
                'rssi': self.rssi
            }
            self.status = result
            return result
    def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
        """
        等待液位达到目标状态 (阻塞式)
        """
        self.logger.info(f"Waiting for level: {target_state}")
        start_time = time.time()
        while (time.time() - start_time) < timeout:
            res = self.read_level()
            if res and res.get('level') == target_state:
                return True
            time.sleep(0.5)
        self.logger.warning(f"Wait level timeout ({timeout}s)")
        return False
    def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
        """
        实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
        一旦检测到符合目标状态，立即返回。
        Args:
            target_state: True 为“有液”, False 为“无液”
            timeout: 最大等待时间(秒)
        """
        state_str = "有液" if target_state else "无液"
        self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
        start_time = time.time()
        while (time.time() - start_time) < timeout:
            res = self.read_level() # 内部已更新 self.level 和 self.rssi
            if res:
                current_level = res.get('level')
                current_rssi = res.get('rssi')
                if current_level == target_state:
                    self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
                    return True
                if self.debug:
                    self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
            time.sleep(0.2) # 高频采样
        self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
        return False
    def set_threshold(self, threshold: int):
        """设置液位判定阈值"""
        self.threshold = int(threshold)
        self.logger.info(f"Threshold updated to: {self.threshold}")
    def change_device_id(self, new_id: int) -> bool:
        """
        修改设备的 Modbus 从站地址。
        寄存器: 0x0004, 功能码: 0x06
        """
        if not (1 <= new_id <= 254):
            self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
            return False
        self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
        success = self._write_single_register(0x0004, new_id)
        if success:
            self.device_id = new_id # 更新内存中的地址
            self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
        return success
    def change_baudrate(self, baud_code: int) -> bool:
        """
        更改通讯波特率 (寄存器: 0x0005)。
        设置成功后传感器 LED 会闪烁，通常无数据返回。
        波特率代码对照表 (16进制):
        05: 2400
        06: 4800
        07: 9600 (默认)
        08: 14400
        09: 19200
        0A: 28800
        0C: 57600
        0D: 115200
        0E: 128000
        0F: 256000
        """
        self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
        # 写入寄存器 0x0005
        self._write_single_register(0x0005, baud_code)
        self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
        return True
    def factory_reset(self) -> bool:
        """
        恢复出厂设置 (通过广播地址 FF)。
        设置地址为 01，逻辑为向 0x0004 写入 0x0002
        """
        self.logger.info("Sending factory reset command via broadcast address FF...")
        # 广播指令通常无回显
        self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
        self.logger.info("Factory reset command sent. Device address should be 01 now.")
        return True
    def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
        """内部辅助函数: Modbus 功能码 06 写单个寄存器"""
        if not self.transport: return False
        target_id = slave_id if slave_id is not None else self.device_id
        msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
        msg += self._crc(msg)
        with self.transport.lock:
            self.transport.clear_buffer()
            if self.debug:
                self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
            self.transport.write(msg)
            # 广播地址、波特率修改或厂家特定指令可能无回显
            if target_id == 0xFF or reg_addr == 0x0005:
                time.sleep(0.5)
                return True
            # 等待返回 (正常应返回相同报文)
            resp = self.transport.read(len(msg))
            if self.debug:
                self.logger.info(f"RX Write Response: {resp.hex().upper()}")
            return resp == msg
    def close(self):
        if self.transport:
            self.transport.close()
 if __name__ == "__main__":
    # 快速实例化测试
    import logging
    # 减少冗余日志，仅显示重要信息
    logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
    # 硬件配置 (根据实际情况修改)
    TEST_PORT = "/dev/tty.usbserial-3110"
    SLAVE_ID = 1
    THRESHOLD = 300
    print("\n" + "="*50)
    print(f"  XKC RS485 传感器独立测试程序")
    print(f"  端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
    print("="*50)
    sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
    try:
        if sensor.transport:
            print(f"\n开始实时连续采样测试 (持续 15 秒)...")
            print(f"按 Ctrl+C 可提前停止\n")
            start_time = time.time()
            duration = 15
            count = 0
            while time.time() - start_time < duration:
                count += 1
                res = sensor.read_level()
                if res:
                    rssi = res['rssi']
                    level = res['level']
                    status_str = "【有液】" if level else "【无液】"
                    # 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
                    # 为了方便查看变化，我们直接打印
                    elapsed = time.time() - start_time
                    print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
                else:
                    print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
                time.sleep(0.5) # 每秒采样 2 次
            print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
            # [3] 测试动态修改阈值
            print(f"\n[3] 动态修改阈值演示...")
            new_threshold = 400
            sensor.set_threshold(new_threshold)
            res = sensor.read_level()
            if res:
                print(f"  采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
            sensor.set_threshold(THRESHOLD) # 还原
    except KeyboardInterrupt:
        print("\n[!] 用户中断测试")
    except Exception as e:
        print(f"\n[!] 测试运行出错: {e}")
    finally:
        sensor.close()
        print("\n--- 测试程序已退出 ---\n")
--- a/unilabos/devices/virtual/workbench.py
+++ b/unilabos/devices/virtual/workbench.py
@@ -1,15 +1,15 @@
 """
 Virtual Workbench Device - 模拟工作台设备
-包含：
+包含:
 - 1个机械臂 (每次操作3s, 独占锁)
 - 3个加热台 (每次加热10s, 可并行)
-工作流程：
+工作流程:
-1. A1-A5 物料同时启动，竞争机械臂
+1. A1-A5 物料同时启动, 竞争机械臂
 2. 机械臂将物料移动到空闲加热台
-3. 加热完成后，机械臂将物料移动到C1-C5
+3. 加热完成后, 机械臂将物料移动到C1-C5
-注意：调用来自线程池，使用 threading.Lock 进行同步
+注意: 调用来自线程池, 使用 threading.Lock 进行同步
 """
 import logging
@@ -21,9 +21,11 @@ from threading import Lock, RLock
 from typing_extensions import TypedDict
 from unilabos.registry.decorators import (
    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action, always_free
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
 from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
 # ============ TypedDict 返回类型定义 ============
@@ -57,6 +59,8 @@ class MoveToOutputResult(TypedDict):
    success: bool
    station_id: int
    material_id: str
    output_position: str
    message: str
    unilabos_samples: List[LabSample]
@@ -81,9 +85,9 @@ class HeatingStationState(Enum):
    """加热台状态枚举"""
    IDLE = "idle"  # 空闲
-    OCCUPIED = "occupied"  # 已放置物料，等待加热
+    OCCUPIED = "occupied"  # 已放置物料, 等待加热
    HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成，等待取走
+    COMPLETED = "completed"  # 加热完成, 等待取走
 class ArmState(Enum):
@@ -105,19 +109,24 @@ class HeatingStation:
    heating_progress: float = 0.0
@device(
    id="virtual_workbench",
    category=["virtual_device"],
    description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
 )
 class VirtualWorkbench:
    """
    Virtual Workbench Device - 虚拟工作台设备
    模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒，同一时间只能执行一个操作
+    - 机械臂操作耗时3秒, 同一时间只能执行一个操作
-    - 加热台加热耗时10秒，3个加热台可并行工作
+    - 加热台加热耗时10秒, 3个加热台可并行工作
    工作流:
-    1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
+    1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
-    2. 获取机械臂后，查找空闲加热台
+    2. 获取机械臂后, 查找空闲加热台
-    3. 机械臂将物料放入加热台，开始加热
+    3. 机械臂将物料放入加热台, 开始加热
-    4. 加热完成后，机械臂将物料移动到目标位置Cn
+    4. 加热完成后, 机械臂将物料移动到目标位置Cn
    """
    _ros_node: BaseROS2DeviceNode
@@ -145,19 +154,19 @@ class VirtualWorkbench:
        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
-        # 机械臂状态和锁 (使用threading.Lock)
+        # 机械臂状态和锁
        self._arm_lock = Lock()
        self._arm_state = ArmState.IDLE
        self._arm_current_task: Optional[str] = None
-        # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
+        # 加热台状态
        self._heating_stations: Dict[int, HeatingStation] = {
            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
        }
-        self._stations_lock = RLock()  # 可重入锁，保护加热台状态
+        self._stations_lock = RLock()
        # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
+        self._active_tasks: Dict[str, Dict[str, Any]] = {}
        self._tasks_lock = Lock()
        # 处理其他kwargs参数
@@ -183,7 +192,6 @@ class VirtualWorkbench:
        """初始化虚拟工作台"""
        self.logger.info(f"初始化虚拟工作台 {self.device_id}")
        # 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
        with self._stations_lock:
            for station in self._heating_stations.values():
                station.state = HeatingStationState.IDLE
@@ -191,7 +199,6 @@ class VirtualWorkbench:
                station.material_number = None
                station.heating_progress = 0.0
        # 初始化状态
        self.data.update(
            {
                "status": "Ready",
@@ -257,11 +264,7 @@ class VirtualWorkbench:
            self.data["message"] = message
    def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台
+        """查找空闲的加热台"""
        Returns:
            空闲加热台ID，如果没有则返回None
        """
        with self._stations_lock:
            for station_id, station in self._heating_stations.items():
                if station.state == HeatingStationState.IDLE:
@@ -269,23 +272,12 @@ class VirtualWorkbench:
        return None
    def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权（阻塞直到获取）
+        """获取机械臂使用权(阻塞直到获取)"""
        Args:
            task_description: 任务描述，用于日志
        Returns:
            是否成功获取
        """
        self.logger.info(f"[{task_description}] 等待获取机械臂...")
        # 阻塞等待获取锁
        self._arm_lock.acquire()
        self._arm_state = ArmState.BUSY
        self._arm_current_task = task_description
        self._update_data_status(f"机械臂执行: {task_description}")
        self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
        return True
@@ -298,6 +290,22 @@ class VirtualWorkbench:
        self._update_data_status(f"机械臂已释放 (完成: {task})")
        self.logger.info(f"机械臂已释放 (完成: {task})")
    @action(
        auto_prefix=True,
        description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
        handles=[
            ActionOutputHandle(key="channel_1", data_type="workbench_material",
                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
            ActionOutputHandle(key="channel_2", data_type="workbench_material",
                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
            ActionOutputHandle(key="channel_3", data_type="workbench_material",
                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
            ActionOutputHandle(key="channel_4", data_type="workbench_material",
                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
            ActionOutputHandle(key="channel_5", data_type="workbench_material",
                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
        ],
    )
    def prepare_materials(
        self,
        sample_uuids: SampleUUIDsType,
@@ -306,19 +314,14 @@ class VirtualWorkbench:
        """
        批量准备物料 - 虚拟起始节点
-        作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
+        作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
+        输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
        Args:
            count: 待生成的物料数量，默认5 (生成 A1-A5)
        Returns:
            PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
        """
        # 生成物料列表 A1 - A{count}
        materials = [i for i in range(1, count + 1)]
-        self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
+        self.logger.info(
            f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
        )
        return {
            "success": True,
@@ -329,9 +332,28 @@ class VirtualWorkbench:
            "material_4": materials[3] if len(materials) > 3 else 0,
            "material_5": materials[4] if len(materials) > 4 else 0,
            "message": f"已准备 {count} 个物料: A1-A{count}",
-            "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
+            "unilabos_samples": [
                LabSample(
                    sample_uuid=sample_uuid,
                    oss_path="",
                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
                )
                for sample_uuid, content in sample_uuids.items()
            ],
        }
    @action(
        auto_prefix=True,
        description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
        handles=[
            ActionInputHandle(key="material_input", data_type="workbench_material",
                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
        ],
    )
    def move_to_heating_station(
        self,
        sample_uuids: SampleUUIDsType,
@@ -340,20 +362,12 @@ class VirtualWorkbench:
        """
        将物料从An位置移动到加热台
-        多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
+        多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
        Args:
            material_number: 物料编号 (1-5)
        Returns:
            MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
        """
        # 根据物料编号生成物料ID
        material_id = f"A{material_number}"
        task_desc = f"移动{material_id}到加热台"
        self.logger.info(f"[任务] {task_desc} - 开始执行")
        # 记录任务
        with self._tasks_lock:
            self._active_tasks[material_id] = {
                "status": "waiting_for_arm",
@@ -361,33 +375,27 @@ class VirtualWorkbench:
            }
        try:
            # 步骤1: 等待获取机械臂使用权(竞争)
            with self._tasks_lock:
                self._active_tasks[material_id]["status"] = "waiting_for_arm"
            self._acquire_arm(task_desc)
            # 步骤2: 查找空闲加热台
            with self._tasks_lock:
                self._active_tasks[material_id]["status"] = "finding_station"
            station_id = None
            # 循环等待直到找到空闲加热台
            while station_id is None:
                station_id = self._find_available_heating_station()
                if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
+                    self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
                    # 释放机械臂，等待后重试
                    self._release_arm()
                    time.sleep(0.5)
                    self._acquire_arm(task_desc)
            # 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
            with self._stations_lock:
                self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
                self._heating_stations[station_id].current_material = material_id
                self._heating_stations[station_id].material_number = material_number
            # 步骤4: 模拟机械臂移动操作 (3秒)
            with self._tasks_lock:
                self._active_tasks[material_id]["status"] = "arm_moving"
                self._active_tasks[material_id]["assigned_station"] = station_id
@@ -395,11 +403,11 @@ class VirtualWorkbench:
            time.sleep(self.ARM_OPERATION_TIME)
            # 步骤5: 放入加热台完成
            self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
+            self.logger.info(
                f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
            )
            # 释放机械臂
            self._release_arm()
            with self._tasks_lock:
@@ -412,8 +420,16 @@ class VirtualWorkbench:
                "material_number": material_number,
                "message": f"{material_id}已成功移动到加热台{station_id}",
                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    LabSample(
-                    sample_uuid, content in sample_uuids.items()]
+                        sample_uuid=sample_uuid,
                        oss_path="",
                        extra=(
                            {"material_uuid": content}
                            if isinstance(content, str) else (content.serialize() if content else {})
                        ),
                    )
                    for sample_uuid, content in sample_uuids.items()
                ],
            }
        except Exception as e:
@@ -427,11 +443,33 @@ class VirtualWorkbench:
                "material_number": material_number,
                "message": f"移动失败: {str(e)}",
                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    LabSample(
-                    sample_uuid, content in sample_uuids.items()]
+                        sample_uuid=sample_uuid,
                        oss_path="",
                        extra=(
                            {"material_uuid": content}
                            if isinstance(content, str) else (content.serialize() if content else {})
                        ),
                    )
                    for sample_uuid, content in sample_uuids.items()
                ],
            }
-    @always_free
+    @action(
        auto_prefix=True,
        always_free=True,
        description="启动指定加热台的加热程序",
        handles=[
            ActionInputHandle(key="station_id_input", data_type="workbench_station",
                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
            ActionInputHandle(key="material_number_input", data_type="workbench_material",
                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
        ],
    )
    def start_heating(
        self,
        sample_uuids: SampleUUIDsType,
@@ -440,13 +478,6 @@ class VirtualWorkbench:
    ) -> StartHeatingResult:
        """
        启动指定加热台的加热程序
        Args:
            station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
            material_number: 物料编号，从 move_to_heating_station 的 handle 传入
        Returns:
            StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
        """
        self.logger.info(f"[加热台{station_id}] 开始加热")
@@ -458,8 +489,16 @@ class VirtualWorkbench:
                "material_number": material_number,
                "message": f"无效的加热台ID: {station_id}",
                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    LabSample(
-                    sample_uuid, content in sample_uuids.items()]
+                        sample_uuid=sample_uuid,
                        oss_path="",
                        extra=(
                            {"material_uuid": content}
                            if isinstance(content, str) else (content.serialize() if content else {})
                        ),
                    )
                    for sample_uuid, content in sample_uuids.items()
                ],
            }
        with self._stations_lock:
@@ -473,8 +512,16 @@ class VirtualWorkbench:
                    "material_number": material_number,
                    "message": f"加热台{station_id}上没有物料",
                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        LabSample(
-                        sample_uuid, content in sample_uuids.items()]
+                            sample_uuid=sample_uuid,
                            oss_path="",
                            extra=(
                                {"material_uuid": content}
                                if isinstance(content, str) else (content.serialize() if content else {})
                            ),
                        )
                        for sample_uuid, content in sample_uuids.items()
                    ],
                }
            if station.state == HeatingStationState.HEATING:
@@ -485,13 +532,20 @@ class VirtualWorkbench:
                    "material_number": material_number,
                    "message": f"加热台{station_id}已经在加热中",
                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        LabSample(
-                        sample_uuid, content in sample_uuids.items()]
+                            sample_uuid=sample_uuid,
                            oss_path="",
                            extra=(
                                {"material_uuid": content}
                                if isinstance(content, str) else (content.serialize() if content else {})
                            ),
                        )
                        for sample_uuid, content in sample_uuids.items()
                    ],
                }
            material_id = station.current_material
            # 开始加热
            station.state = HeatingStationState.HEATING
            station.heating_start_time = time.time()
            station.heating_progress = 0.0
@@ -502,7 +556,6 @@ class VirtualWorkbench:
        self._update_data_status(f"加热台{station_id}开始加热{material_id}")
        # 打印当前所有正在加热的台位
        with self._stations_lock:
            heating_list = [
                f"加热台{sid}:{s.current_material}"
@@ -511,7 +564,6 @@ class VirtualWorkbench:
            ]
        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
        # 模拟加热过程
        start_time = time.time()
        last_countdown_log = start_time
        while True:
@@ -524,7 +576,6 @@ class VirtualWorkbench:
            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
            # 每5秒打印一次倒计时
            if time.time() - last_countdown_log >= 5.0:
                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
                last_countdown_log = time.time()
@@ -534,7 +585,6 @@ class VirtualWorkbench:
            time.sleep(1.0)
        # 加热完成
        with self._stations_lock:
            self._heating_stations[station_id].state = HeatingStationState.COMPLETED
            self._heating_stations[station_id].heating_progress = 100.0
@@ -553,10 +603,28 @@ class VirtualWorkbench:
            "material_number": material_number,
            "message": f"加热台{station_id}加热完成",
            "unilabos_samples": [
-                LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                LabSample(
-                sample_uuid, content in sample_uuids.items()]
+                    sample_uuid=sample_uuid,
                    oss_path="",
                    extra=(
                        {"material_uuid": content}
                        if isinstance(content, str) else (content.serialize() if content else {})
                    ),
                )
                for sample_uuid, content in sample_uuids.items()
            ],
        }
    @action(
        auto_prefix=True,
        description="将物料从加热台移动到输出位置Cn",
        handles=[
            ActionInputHandle(key="output_station_input", data_type="workbench_station",
                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
            ActionInputHandle(key="output_material_input", data_type="workbench_material",
                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
        ],
    )
    def move_to_output(
        self,
        sample_uuids: SampleUUIDsType,
@@ -565,15 +633,8 @@ class VirtualWorkbench:
    ) -> MoveToOutputResult:
        """
        将物料从加热台移动到输出位置Cn
        Args:
            station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
            material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
        Returns:
            MoveToOutputResult: 包含执行结果
        """
-        output_number = material_number  # 物料编号决定输出位置
+        output_number = material_number
        if station_id not in self._heating_stations:
            return {
@@ -583,8 +644,16 @@ class VirtualWorkbench:
                "output_position": f"C{output_number}",
                "message": f"无效的加热台ID: {station_id}",
                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    LabSample(
-                    sample_uuid, content in sample_uuids.items()]
+                        sample_uuid=sample_uuid,
                        oss_path="",
                        extra=(
                            {"material_uuid": content}
                            if isinstance(content, str) else (content.serialize() if content else {})
                        ),
                    )
                    for sample_uuid, content in sample_uuids.items()
                ],
            }
        with self._stations_lock:
@@ -599,8 +668,16 @@ class VirtualWorkbench:
                    "output_position": f"C{output_number}",
                    "message": f"加热台{station_id}上没有物料",
                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        LabSample(
-                        sample_uuid, content in sample_uuids.items()]
+                            sample_uuid=sample_uuid,
                            oss_path="",
                            extra=(
                                {"material_uuid": content}
                                if isinstance(content, str) else (content.serialize() if content else {})
                            ),
                        )
                        for sample_uuid, content in sample_uuids.items()
                    ],
                }
            if station.state != HeatingStationState.COMPLETED:
@@ -611,8 +688,16 @@ class VirtualWorkbench:
                    "output_position": f"C{output_number}",
                    "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        LabSample(
-                        sample_uuid, content in sample_uuids.items()]
+                            sample_uuid=sample_uuid,
                            oss_path="",
                            extra=(
                                {"material_uuid": content}
                                if isinstance(content, str) else (content.serialize() if content else {})
                            ),
                        )
                        for sample_uuid, content in sample_uuids.items()
                    ],
                }
        output_position = f"C{output_number}"
@@ -624,18 +709,17 @@ class VirtualWorkbench:
                if material_id in self._active_tasks:
                    self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
            # 获取机械臂
            self._acquire_arm(task_desc)
            with self._tasks_lock:
                if material_id in self._active_tasks:
                    self._active_tasks[material_id]["status"] = "arm_moving_to_output"
-            # 模拟机械臂操作 (3秒)
+            self.logger.info(
-            self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
+                f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
            )
            time.sleep(self.ARM_OPERATION_TIME)
            # 清空加热台
            with self._stations_lock:
                self._heating_stations[station_id].state = HeatingStationState.IDLE
                self._heating_stations[station_id].current_material = None
@@ -643,17 +727,17 @@ class VirtualWorkbench:
                self._heating_stations[station_id].heating_progress = 0.0
                self._heating_stations[station_id].heating_start_time = None
            # 释放机械臂
            self._release_arm()
            # 任务完成
            with self._tasks_lock:
                if material_id in self._active_tasks:
                    self._active_tasks[material_id]["status"] = "completed"
                    self._active_tasks[material_id]["end_time"] = time.time()
            self._update_data_status(f"{material_id}已移动到{output_position}")
-            self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
+            self.logger.info(
                f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
            )
            return {
                "success": True,
@@ -662,8 +746,17 @@ class VirtualWorkbench:
                "output_position": output_position,
                "message": f"{material_id}已成功移动到{output_position}",
                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    LabSample(
-                    sample_uuid, content in sample_uuids.items()]
+                        sample_uuid=sample_uuid,
                        oss_path="",
                        extra=(
                            {"material_uuid": content}
                            if isinstance(content, str)
                            else (content.serialize() if content is not None else {})
                        ),
                    )
                    for sample_uuid, content in sample_uuids.items()
                ],
            }
        except Exception as e:
@@ -677,83 +770,105 @@ class VirtualWorkbench:
                "output_position": output_position,
                "message": f"移动失败: {str(e)}",
                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    LabSample(
-                    sample_uuid, content in sample_uuids.items()]
+                        sample_uuid=sample_uuid,
                        oss_path="",
                        extra=(
                            {"material_uuid": content}
                            if isinstance(content, str) else (content.serialize() if content else {})
                        ),
                    )
                    for sample_uuid, content in sample_uuids.items()
                ],
            }
    # ============ 状态属性 ============
    @property
    @topic_config()
    def status(self) -> str:
        return self.data.get("status", "Unknown")
    @property
    @topic_config()
    def arm_state(self) -> str:
        return self._arm_state.value
    @property
    @topic_config()
    def arm_current_task(self) -> str:
        return self._arm_current_task or ""
    @property
    @topic_config()
    def heating_station_1_state(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(1)
            return station.state.value if station else "unknown"
    @property
    @topic_config()
    def heating_station_1_material(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(1)
            return station.current_material or "" if station else ""
    @property
    @topic_config()
    def heating_station_1_progress(self) -> float:
        with self._stations_lock:
            station = self._heating_stations.get(1)
            return station.heating_progress if station else 0.0
    @property
    @topic_config()
    def heating_station_2_state(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(2)
            return station.state.value if station else "unknown"
    @property
    @topic_config()
    def heating_station_2_material(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(2)
            return station.current_material or "" if station else ""
    @property
    @topic_config()
    def heating_station_2_progress(self) -> float:
        with self._stations_lock:
            station = self._heating_stations.get(2)
            return station.heating_progress if station else 0.0
    @property
    @topic_config()
    def heating_station_3_state(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(3)
            return station.state.value if station else "unknown"
    @property
    @topic_config()
    def heating_station_3_material(self) -> str:
        with self._stations_lock:
            station = self._heating_stations.get(3)
            return station.current_material or "" if station else ""
    @property
    @topic_config()
    def heating_station_3_progress(self) -> float:
        with self._stations_lock:
            station = self._heating_stations.get(3)
            return station.heating_progress if station else 0.0
    @property
    @topic_config()
    def active_tasks_count(self) -> int:
        with self._tasks_lock:
            return len(self._active_tasks)
    @property
    @topic_config()
    def message(self) -> str:
        return self.data.get("message", "")
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
            # 第1步：从配置中获取仓库配置
-            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
            # 确定目标仓库名称
            parent_name = None
--- a/unilabos/registry/ast_registry_scanner.py
+++ b/unilabos/registry/ast_registry_scanner.py
--- a/unilabos/registry/decorators.py
+++ b/unilabos/registry/decorators.py
@@ -0,0 +1,614 @@
 """
 装饰器注册表系统
 通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
 Usage:
    from unilabos.registry.decorators import (
        device, action, resource,
        InputHandle, OutputHandle,
        ActionInputHandle, ActionOutputHandle,
        HardwareInterface, Side, DataSource,
    )
    @device(
        id="solenoid_valve.mock",
        category=["pump_and_valve"],
        description="模拟电磁阀设备",
        handles=[
            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
        ],
        hardware_interface=HardwareInterface(
            name="hardware_interface",
            read="send_command",
            write="send_command",
        ),
    )
    class SolenoidValveMock:
        @action(action_type=EmptyIn)
        def close(self):
            ...
        @action(
            handles=[
                ActionInputHandle(key="in", data_type="fluid", label="in"),
                ActionOutputHandle(key="out", data_type="fluid", label="out"),
            ],
        )
        def set_valve_position(self, position):
            ...
        # 无 @action 装饰器 => auto- 前缀动作
        def is_open(self):
            ...
 """
 from enum import Enum
 from functools import wraps
 from typing import Any, Callable, Dict, List, Optional, TypeVar
 from pydantic import BaseModel, ConfigDict, Field
 F = TypeVar("F", bound=Callable[..., Any])
 # ---------------------------------------------------------------------------
 # 枚举
 # ---------------------------------------------------------------------------
 class Side(str, Enum):
    """UI 上 Handle 的显示位置"""
    NORTH = "NORTH"
    SOUTH = "SOUTH"
    EAST = "EAST"
    WEST = "WEST"
 class DataSource(str, Enum):
    """Handle 的数据来源"""
    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
 # ---------------------------------------------------------------------------
 # Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
 # ---------------------------------------------------------------------------
 class _DeviceHandleBase(BaseModel):
    """设备/资源端口基类 (内部使用)"""
    model_config = ConfigDict(populate_by_name=True)
    key: str = Field(serialization_alias="handler_key")
    data_type: str
    label: str
    side: Optional[Side] = None
    data_key: Optional[str] = None
    data_source: Optional[str] = None
    description: Optional[str] = None
    # 子类覆盖
    io_type: str = ""
    def to_registry_dict(self) -> Dict[str, Any]:
        return self.model_dump(by_alias=True, exclude_none=True)
 class InputHandle(_DeviceHandleBase):
    """
    输入端口 (io_type="target"), 用于 @device / @resource handles
    Example:
        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
    """
    io_type: str = "target"
 class OutputHandle(_DeviceHandleBase):
    """
    输出端口 (io_type="source"), 用于 @device / @resource handles
    Example:
        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
    """
    io_type: str = "source"
 # ---------------------------------------------------------------------------
 # Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
 # ---------------------------------------------------------------------------
 class _ActionHandleBase(BaseModel):
    """动作端口基类 (内部使用)"""
    model_config = ConfigDict(populate_by_name=True)
    key: str = Field(serialization_alias="handler_key")
    data_type: str
    label: str
    side: Optional[Side] = None
    data_key: Optional[str] = None
    data_source: Optional[str] = None
    description: Optional[str] = None
    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
    def to_registry_dict(self) -> Dict[str, Any]:
        return self.model_dump(by_alias=True, exclude_none=True)
 class ActionInputHandle(_ActionHandleBase):
    """
    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
    Example:
        ActionInputHandle(
            key="material_input", data_type="workbench_material",
            label="物料编号", data_key="material_number", data_source="handle",
        )
    """
    pass
 class ActionOutputHandle(_ActionHandleBase):
    """
    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
    Example:
        ActionOutputHandle(
            key="station_output", data_type="workbench_station",
            label="加热台ID", data_key="station_id", data_source="executor",
        )
    """
    pass
 # ---------------------------------------------------------------------------
 # HardwareInterface
 # ---------------------------------------------------------------------------
 class HardwareInterface(BaseModel):
    """
    硬件通信接口定义
    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
    Example:
        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
    """
    name: str
    read: Optional[str] = None
    write: Optional[str] = None
    extra_info: Optional[List[str]] = None
 # ---------------------------------------------------------------------------
 # 全局注册表 -- 记录所有被装饰器标记的类/函数
 # ---------------------------------------------------------------------------
 _registered_devices: Dict[str, type] = {}  # device_id -> class
 _registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
 def _device_handles_to_list(
    handles: Optional[List[_DeviceHandleBase]],
 ) -> List[Dict[str, Any]]:
    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
    if handles is None:
        return []
    return [h.to_registry_dict() for h in handles]
 def _action_handles_to_dict(
    handles: Optional[List[_ActionHandleBase]],
 ) -> Dict[str, Any]:
    """
    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
    ActionInputHandle => "input", ActionOutputHandle => "output"
    """
    if handles is None:
        return {}
    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
    result: Dict[str, Any] = {}
    if input_list:
        result["input"] = input_list
    if output_list:
        result["output"] = output_list
    return result
 # ---------------------------------------------------------------------------
 # @device 类装饰器
 # ---------------------------------------------------------------------------
 # noinspection PyShadowingBuiltins
 def device(
    id: Optional[str] = None,
    ids: Optional[List[str]] = None,
    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
    category: Optional[List[str]] = None,
    description: str = "",
    display_name: str = "",
    icon: str = "",
    version: str = "1.0.0",
    handles: Optional[List[_DeviceHandleBase]] = None,
    model: Optional[Dict[str, Any]] = None,
    device_type: str = "python",
    hardware_interface: Optional[HardwareInterface] = None,
 ):
    """
    设备类装饰器
    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
    支持两种模式:
      1. 单设备: id="xxx", category=[...]
      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
    Args:
        id: 单设备时的注册表唯一标识
        ids: 多设备时的 id 列表，与 id_meta 配合使用
        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
        category: 设备分类标签列表 (必填)
        description: 设备描述
        display_name: 人类可读的设备显示名称，缺失时默认使用 id
        icon: 图标路径
        version: 版本号
        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
        model: 可选的 3D 模型配置
        device_type: 设备实现类型 ("python" / "ros2")
        hardware_interface: 硬件通信接口 (HardwareInterface)
    """
    # Resolve device ids
    if ids is not None:
        device_ids = list(ids)
        if not device_ids:
            raise ValueError("@device ids 不能为空")
        id_meta = id_meta or {}
    elif id is not None:
        device_ids = [id]
        id_meta = {}
    else:
        raise ValueError("@device 必须提供 id 或 ids")
    if category is None:
        raise ValueError("@device category 必填")
    base_meta = {
        "category": category,
        "description": description,
        "display_name": display_name,
        "icon": icon,
        "version": version,
        "handles": _device_handles_to_list(handles),
        "model": model,
        "device_type": device_type,
        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
    }
    def decorator(cls):
        cls._device_registry_meta = base_meta
        cls._device_registry_id_meta = id_meta
        cls._device_registry_ids = device_ids
        for did in device_ids:
            if did in _registered_devices:
                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
            _registered_devices[did] = cls
        return cls
    return decorator
 # ---------------------------------------------------------------------------
 # @action 方法装饰器
 # ---------------------------------------------------------------------------
 # 区分 "用户没传 action_type" 和 "用户传了 None"
 _ACTION_TYPE_UNSET = object()
 # noinspection PyShadowingNames
 def action(
    action_type: Any = _ACTION_TYPE_UNSET,
    goal: Optional[Dict[str, str]] = None,
    feedback: Optional[Dict[str, str]] = None,
    result: Optional[Dict[str, str]] = None,
    handles: Optional[List[_ActionHandleBase]] = None,
    goal_default: Optional[Dict[str, Any]] = None,
    placeholder_keys: Optional[Dict[str, str]] = None,
    always_free: bool = False,
    is_protocol: bool = False,
    description: str = "",
    auto_prefix: bool = False,
    parent: bool = False,
 ):
    """
    动作方法装饰器
    标记方法为注册表动作。有三种用法:
      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
    Protocol 用法:
      @action(action_type=Add, is_protocol=True)
      def AddProtocol(self): ...
      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
    Args:
        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
                     不传/默认 = UniLabJsonCommand (非 auto).
        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
              protocol 模式下可留空，系统自动生成 identity 映射.
        feedback: Feedback 字段映射
        result: Result 字段映射
        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
        placeholder_keys: 参数占位符配置
        always_free: 是否为永久闲置动作 (不受排队限制)
        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
        description: 动作描述
        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
    """
    def decorator(func: F) -> F:
        @wraps(func)
        def wrapper(*args, **kwargs):
            return func(*args, **kwargs)
        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
        meta = {
            "action_type": resolved_type,
            "goal": goal or {},
            "feedback": feedback or {},
            "result": result or {},
            "handles": _action_handles_to_dict(handles),
            "goal_default": goal_default or {},
            "placeholder_keys": placeholder_keys or {},
            "always_free": always_free,
            "is_protocol": is_protocol,
            "description": description,
            "auto_prefix": auto_prefix,
            "parent": parent,
        }
        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
        if always_free:
            wrapper._is_always_free = True  # type: ignore[attr-defined]
        return wrapper  # type: ignore[return-value]
    return decorator
 def get_action_meta(func) -> Optional[Dict[str, Any]]:
    """获取方法上的 @action 装饰器元数据"""
    return getattr(func, "_action_registry_meta", None)
 def has_action_decorator(func) -> bool:
    """检查函数是否带有 @action 装饰器"""
    return hasattr(func, "_action_registry_meta")
 # ---------------------------------------------------------------------------
 # @resource 类/函数装饰器
 # ---------------------------------------------------------------------------
 def resource(
    id: str,
    category: List[str],
    description: str = "",
    icon: str = "",
    version: str = "1.0.0",
    handles: Optional[List[_DeviceHandleBase]] = None,
    model: Optional[Dict[str, Any]] = None,
    class_type: str = "pylabrobot",
 ):
    """
    资源类/函数装饰器
    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
    Args:
        id: 注册表唯一标识 (必填, 不可重复)
        category: 资源分类标签列表 (必填)
        description: 资源描述
        icon: 图标路径
        version: 版本号
        handles: 端口列表 (InputHandle / OutputHandle)
        model: 可选的 3D 模型配置
        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
    """
    def decorator(obj):
        meta = {
            "resource_id": id,
            "category": category,
            "description": description,
            "icon": icon,
            "version": version,
            "handles": _device_handles_to_list(handles),
            "model": model,
            "class_type": class_type,
        }
        obj._resource_registry_meta = meta
        if id in _registered_resources:
            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
        _registered_resources[id] = obj
        return obj
    return decorator
 def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
    """
    获取类上的 @device 装饰器元数据。
    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
    (base_meta 与 id_meta[device_id] 深度合并)。
    """
    base = getattr(cls, "_device_registry_meta", None)
    if base is None:
        return None
    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
    if device_id is None or device_id not in id_meta:
        result = dict(base)
        ids = getattr(cls, "_device_registry_ids", None)
        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
        return result
    overrides = id_meta[device_id]
    result = dict(base)
    result["device_id"] = device_id
    for key in ["handles", "description", "icon", "model"]:
        if key in overrides:
            val = overrides[key]
            if key == "handles" and isinstance(val, list):
                # handles 必须是 Handle 对象列表
                result[key] = [h.to_registry_dict() for h in val]
            else:
                result[key] = val
    return result
 def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
    """获取对象上的 @resource 装饰器元数据"""
    return getattr(obj, "_resource_registry_meta", None)
 def get_all_registered_devices() -> Dict[str, type]:
    """获取所有已注册的设备类"""
    return _registered_devices.copy()
 def get_all_registered_resources() -> Dict[str, Any]:
    """获取所有已注册的资源"""
    return _registered_resources.copy()
 def clear_registry():
    """清空全局注册表 (用于测试)"""
    _registered_devices.clear()
    _registered_resources.clear()
 # ---------------------------------------------------------------------------
 # topic_config / not_action / always_free 装饰器
 # ---------------------------------------------------------------------------
 def topic_config(
    period: Optional[float] = None,
    print_publish: Optional[bool] = None,
    qos: Optional[int] = None,
    name: Optional[str] = None,
 ) -> Callable[[F], F]:
    """
    Topic发布配置装饰器
    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
    Args:
        period: 发布周期（秒）。None 表示使用默认值 5.0
        print_publish: 是否打印发布日志。None 表示使用节点默认配置
        qos: QoS深度配置。None 表示使用默认值 10
        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
    Note:
        与 @property 连用时，@topic_config 必须放在 @property 下面，
        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
    """
    def decorator(func: F) -> F:
        @wraps(func)
        def wrapper(*args, **kwargs):
            return func(*args, **kwargs)
        wrapper._topic_period = period  # type: ignore[attr-defined]
        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
        wrapper._topic_qos = qos  # type: ignore[attr-defined]
        wrapper._topic_name = name  # type: ignore[attr-defined]
        wrapper._has_topic_config = True  # type: ignore[attr-defined]
        return wrapper  # type: ignore[return-value]
    return decorator
 def get_topic_config(func) -> dict:
    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
        return {
            "period": getattr(func, "_topic_period", None),
            "print_publish": getattr(func, "_topic_print_publish", None),
            "qos": getattr(func, "_topic_qos", None),
            "name": getattr(func, "_topic_name", None),
        }
    return {}
 def always_free(func: F) -> F:
    """
    标记动作为永久闲置(不受busy队列限制)的装饰器
    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
    """
    @wraps(func)
    def wrapper(*args, **kwargs):
        return func(*args, **kwargs)
    wrapper._is_always_free = True  # type: ignore[attr-defined]
    return wrapper  # type: ignore[return-value]
 def is_always_free(func) -> bool:
    """检查函数是否被标记为永久闲置"""
    return getattr(func, "_is_always_free", False)
 def not_action(func: F) -> F:
    """
    标记方法为非动作的装饰器
    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
    """
    @wraps(func)
    def wrapper(*args, **kwargs):
        return func(*args, **kwargs)
    wrapper._is_not_action = True  # type: ignore[attr-defined]
    return wrapper  # type: ignore[return-value]
 def is_not_action(func) -> bool:
    """检查函数是否被标记为非动作"""
    return getattr(func, "_is_not_action", False)
--- a/unilabos/registry/devices/chinwe.yaml
+++ b/unilabos/registry/devices/chinwe.yaml
@@ -317,47 +317,6 @@ separator.chinwe:
              - port
              type: object
        type: UniLabJsonCommand
      separation_step:
        goal:
          max_cycles: 0
          motor_id: 5
          pulses: 700
          speed: 60
          timeout: 300
        handles: {}
        schema:
          description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
          properties:
            goal:
              properties:
                max_cycles:
                  default: 0
                  description: 最大循环次数 (0=无限制)
                  type: integer
                motor_id:
                  default: '5'
                  description: 选择电机
                  enum:
                  - '4'
                  - '5'
                  title: '注: 4=搅拌, 5=旋钮'
                  type: string
                pulses:
                  default: 700
                  description: 每次旋转脉冲数 (约1/4圈)
                  type: integer
                speed:
                  default: 60
                  description: 电机转速 (RPM)
                  type: integer
                timeout:
                  default: 300
                  description: 超时时间 (秒)
                  type: integer
              required:
              - motor_id
              type: object
        type: UniLabJsonCommand
      wait_sensor_level:
        goal:
          target_state: 有液
--- a/unilabos/registry/devices/motor.yaml
+++ b/unilabos/registry/devices/motor.yaml
@@ -1,286 +0,0 @@
 motor.zdt_x42:
  category:
  - motor
  class:
    action_value_mappings:
      auto-enable:
        feedback: {}
        goal: {}
        goal_default:
          'on': true
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
          properties:
            feedback: {}
            goal:
              properties:
                'on':
                  default: true
                  type: boolean
              required: []
              type: object
            result: {}
          required:
          - goal
          title: enable参数
          type: object
        type: UniLabJsonCommand
      auto-get_position:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 获取当前电机脉冲位置。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result:
              properties:
                position:
                  type: integer
              type: object
          required:
          - goal
          title: get_position参数
          type: object
        type: UniLabJsonCommand
      auto-move_position:
        feedback: {}
        goal: {}
        goal_default:
          absolute: false
          acceleration: 10
          direction: CW
          pulses: 1000
          speed_rpm: 60
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
          properties:
            feedback: {}
            goal:
              properties:
                absolute:
                  default: false
                  type: boolean
                acceleration:
                  default: 10
                  maximum: 255
                  minimum: 0
                  type: integer
                direction:
                  default: CW
                  enum:
                  - CW
                  - CCW
                  type: string
                pulses:
                  default: 1000
                  type: integer
                speed_rpm:
                  default: 60
                  minimum: 0
                  type: integer
              required:
              - pulses
              - speed_rpm
              type: object
            result: {}
          required:
          - goal
          title: move_position参数
          type: object
        type: UniLabJsonCommand
      auto-move_speed:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 10
          direction: CW
          speed_rpm: 60
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 速度模式运行。控制电机以指定转速和方向持续转动。
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 10
                  maximum: 255
                  minimum: 0
                  type: integer
                direction:
                  default: CW
                  enum:
                  - CW
                  - CCW
                  type: string
                speed_rpm:
                  default: 60
                  minimum: 0
                  type: integer
              required:
              - speed_rpm
              type: object
            result: {}
          required:
          - goal
          title: move_speed参数
          type: object
        type: UniLabJsonCommand
      auto-rotate_quarter:
        feedback: {}
        goal: {}
        goal_default:
          direction: CW
          speed_rpm: 60
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 电机旋转 1/4 圈 (阻塞式)。
          properties:
            feedback: {}
            goal:
              properties:
                direction:
                  default: CW
                  enum:
                  - CW
                  - CCW
                  type: string
                speed_rpm:
                  default: 60
                  minimum: 1
                  type: integer
              required: []
              type: object
            result: {}
          required:
          - goal
          title: rotate_quarter参数
          type: object
        type: UniLabJsonCommand
      auto-set_zero:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 将当前电机位置设为零点。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: set_zero参数
          type: object
        type: UniLabJsonCommand
      auto-stop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 立即停止电机运动。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: stop参数
          type: object
        type: UniLabJsonCommand
      auto-wait_time:
        feedback: {}
        goal: {}
        goal_default:
          duration_s: 1.0
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 等待指定时间 (秒)。
          properties:
            feedback: {}
            goal:
              properties:
                duration_s:
                  default: 1.0
                  minimum: 0
                  type: number
              required:
              - duration_s
              type: object
            result: {}
          required:
          - goal
          title: wait_time参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
    status_types:
      position: int
      status: str
    type: python
  config_info: []
  description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        baudrate:
          default: 115200
          type: integer
        debug:
          default: false
          type: boolean
        device_id:
          default: 1
          type: integer
        port:
          type: string
        timeout:
          default: 0.5
          type: number
      required:
      - port
      type: object
    data:
      properties:
        position:
          type: integer
        status:
          type: string
      required:
      - status
      - position
      type: object
  version: 1.0.0
--- a/unilabos/registry/devices/sensor.yaml
+++ b/unilabos/registry/devices/sensor.yaml
@@ -1,148 +0,0 @@
 sensor.xkc_rs485:
  category:
  - sensor
  - separator
  class:
    action_value_mappings:
      auto-change_baudrate:
        goal:
          baud_code: 7
        handles: {}
        schema:
          description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
            07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
            0F=256000'
          properties:
            goal:
              properties:
                baud_code:
                  description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
                  type: integer
              required:
              - baud_code
              type: object
        type: UniLabJsonCommand
      auto-change_device_id:
        goal:
          new_id: 1
        handles: {}
        schema:
          description: 修改传感器的 Modbus 从站地址
          properties:
            goal:
              properties:
                new_id:
                  description: 新的从站地址 (1-254)
                  maximum: 254
                  minimum: 1
                  type: integer
              required:
              - new_id
              type: object
        type: UniLabJsonCommand
      auto-factory_reset:
        goal: {}
        handles: {}
        schema:
          description: 恢复出厂设置 (地址重置为 01)
          properties:
            goal:
              type: object
        type: UniLabJsonCommand
      auto-read_level:
        goal: {}
        handles: {}
        schema:
          description: 直接读取当前液位及信号强度
          properties:
            goal:
              type: object
          type: object
        type: UniLabJsonCommand
      auto-set_threshold:
        goal:
          threshold: 300
        handles: {}
        schema:
          description: 设置液位判定阈值
          properties:
            goal:
              properties:
                threshold:
                  type: integer
              required:
              - threshold
              type: object
        type: UniLabJsonCommand
      auto-wait_for_liquid:
        goal:
          target_state: true
          timeout: 120
        handles: {}
        schema:
          description: 实时检测电导率(RSSI)并等待用户指定的状态
          properties:
            goal:
              properties:
                target_state:
                  default: true
                  description: 目标状态 (True=有液, False=无液)
                  type: boolean
                timeout:
                  default: 120
                  description: 超时时间 (秒)
              required:
              - target_state
              type: object
        type: UniLabJsonCommand
      auto-wait_level:
        goal:
          level: true
          timeout: 10
        handles: {}
        schema:
          description: 等待液位达到目标状态
          properties:
            goal:
              properties:
                level:
                  type: boolean
                timeout:
                  type: number
              required:
              - level
              type: object
        type: UniLabJsonCommand
    module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
    status_types:
      level: bool
      rssi: int
    type: python
  config_info: []
  description: XKC RS485 非接触式液位传感器 (Modbus RTU)
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        baudrate:
          default: 9600
          type: integer
        debug:
          default: false
          type: boolean
        device_id:
          default: 1
          type: integer
        port:
          type: string
        threshold:
          default: 300
          type: integer
        timeout:
          default: 3.0
          type: number
      required:
      - port
      type: object
  version: 1.0.0
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
--- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml
+++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml
@@ -46,16 +46,3 @@ BIOYOND_PolymerStation_8StockCarrier:
  init_param_schema: {}
  registry_type: resource
  version: 1.0.0
 BIOYOND_PolymerStation_TipBox:
  category:
  - bottle_carriers
  - tip_racks
  class:
    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox
    type: pylabrobot
  description: BIOYOND_PolymerStation_TipBox (4x6布局，24个枪头孔位)
  handles: []
  icon: ''
  init_param_schema: {}
  registry_type: resource
  version: 1.0.0
--- a/unilabos/registry/resources/bioyond/bottles.yaml
+++ b/unilabos/registry/resources/bioyond/bottles.yaml
@@ -82,3 +82,14 @@ BIOYOND_PolymerStation_Solution_Beaker:
  icon: ''
  init_param_schema: {}
  version: 1.0.0
 BIOYOND_PolymerStation_TipBox:
  category:
  - bottles
  - tip_boxes
  class:
    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
    type: pylabrobot
  handles: []
  icon: ''
  init_param_schema: {}
  version: 1.0.0
--- a/unilabos/registry/utils.py
+++ b/unilabos/registry/utils.py
@@ -0,0 +1,699 @@
 """
 注册表工具函数
 从 registry.py 中提取的纯工具函数，包括：
 - docstring 解析
 - 类型字符串 → JSON Schema 转换
 - AST 类型节点解析
 - TypedDict / Slot / Handle 等辅助检测
 """
 import inspect
 import logging
 import re
 import typing
 from typing import Any, Dict, List, Optional, Tuple, Union
 from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
 from unilabos.utils.cls_creator import import_class
 _logger = logging.getLogger(__name__)
 # ---------------------------------------------------------------------------
 # 异常
 # ---------------------------------------------------------------------------
 class ROSMsgNotFound(Exception):
    pass
 # ---------------------------------------------------------------------------
 # Docstring 解析 (Google-style)
 # ---------------------------------------------------------------------------
 _SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
 def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
    """
    解析 Google-style docstring，提取描述和参数说明。
    Returns:
        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
    """
    result: Dict[str, Any] = {"description": "", "params": {}}
    if not docstring:
        return result
    lines = docstring.strip().splitlines()
    if not lines:
        return result
    result["description"] = lines[0].strip()
    in_args = False
    current_param: Optional[str] = None
    current_desc_parts: list = []
    for line in lines[1:]:
        stripped = line.strip()
        section_match = _SECTION_RE.match(stripped)
        if section_match:
            if current_param is not None:
                result["params"][current_param] = "\n".join(current_desc_parts).strip()
                current_param = None
                current_desc_parts = []
            section_name = section_match.group(1).lower()
            in_args = section_name in ("args", "arguments", "parameters", "params")
            continue
        if not in_args:
            continue
        if ":" in stripped and not stripped.startswith(" "):
            if current_param is not None:
                result["params"][current_param] = "\n".join(current_desc_parts).strip()
            param_part, _, desc_part = stripped.partition(":")
            param_name = param_part.strip().split("(")[0].strip()
            current_param = param_name
            current_desc_parts = [desc_part.strip()]
        elif current_param is not None:
            aline = line
            if aline.startswith("    "):
                aline = aline[4:]
            elif aline.startswith("\t"):
                aline = aline[1:]
            current_desc_parts.append(aline.strip())
    if current_param is not None:
        result["params"][current_param] = "\n".join(current_desc_parts).strip()
    return result
 # ---------------------------------------------------------------------------
 # 类型常量
 # ---------------------------------------------------------------------------
 SIMPLE_TYPE_MAP = {
    "str": "string",
    "string": "string",
    "int": "integer",
    "integer": "integer",
    "float": "number",
    "number": "number",
    "bool": "boolean",
    "boolean": "boolean",
    "list": "array",
    "array": "array",
    "dict": "object",
    "object": "object",
 }
 ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"}
 OBJECT_TYPES = {"dict", "Dict", "Mapping"}
 WRAPPER_TYPES = {"Optional"}
 SLOT_TYPES = {"ResourceSlot", "DeviceSlot"}
 # ---------------------------------------------------------------------------
 # 简单类型映射
 # ---------------------------------------------------------------------------
 def get_json_schema_type(type_str: str) -> str:
    """简单类型名 -> JSON Schema type"""
    return SIMPLE_TYPE_MAP.get(type_str.lower(), "string")
 # ---------------------------------------------------------------------------
 # AST 类型解析
 # ---------------------------------------------------------------------------
 def parse_type_node(type_str: str):
    """将类型注解字符串解析为 AST 节点，失败返回 None。"""
    import ast as _ast
    try:
        return _ast.parse(type_str.strip(), mode="eval").body
    except Exception:
        return None
 def _collect_bitor(node, out: list):
    """递归收集 X | Y | Z 的所有分支。"""
    import ast as _ast
    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
        _collect_bitor(node.left, out)
        _collect_bitor(node.right, out)
    else:
        out.append(node)
 def type_node_to_schema(
    node,
    import_map: Optional[Dict[str, str]] = None,
 ) -> Dict[str, Any]:
    """将 AST 类型注解节点递归转换为 JSON Schema dict。
    当提供 import_map 时，对于未知类名会尝试通过 import_map 解析模块路径，
    然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。
    映射规则:
    - Optional[X]                    → X 的 schema (剥掉 Optional)
    - Union[X, Y]                    → {"anyOf": [X_schema, Y_schema]}
    - List[X] / Tuple[X] / Set[X]   → {"type": "array", "items": X_schema}
    - Dict[K, V]                     → {"type": "object", "additionalProperties": V_schema}
    - Literal["a", "b"]             → {"type": "string", "enum": ["a", "b"]}
    - TypedDict (via import_map)     → {"type": "object", "properties": {...}}
    - 基本类型 str/int/...          → {"type": "string"/"integer"/...}
    """
    import ast as _ast
    # --- Name 节点: str / int / dict / ResourceSlot / 自定义类 ---
    if isinstance(node, _ast.Name):
        name = node.id
        if name in SLOT_TYPES:
            return {"$slot": name}
        json_type = SIMPLE_TYPE_MAP.get(name.lower())
        if json_type:
            return {"type": json_type}
        # 尝试通过 import_map 解析并 import 真实类型
        if import_map and name in import_map:
            type_obj = resolve_type_object(import_map[name])
            if type_obj is not None:
                return type_to_schema(type_obj)
        # 未知类名 → 无法转 schema 的自定义类型默认当 object
        return {"type": "object"}
    if isinstance(node, _ast.Constant):
        if isinstance(node.value, str):
            return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")}
        return {"type": "string"}
    # --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 ---
    if isinstance(node, _ast.Subscript):
        base_name = node.value.id if isinstance(node.value, _ast.Name) else ""
        # Optional[X] → 剥掉
        if base_name in WRAPPER_TYPES:
            return type_node_to_schema(node.slice, import_map)
        # Union[X, None] → 剥掉 None; Union[X, Y] → anyOf
        if base_name == "Union":
            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
            non_none = [
                e
                for e in elts
                if not (isinstance(e, _ast.Constant) and e.value is None)
                and not (isinstance(e, _ast.Name) and e.id == "None")
            ]
            if len(non_none) == 1:
                return type_node_to_schema(non_none[0], import_map)
            if len(non_none) > 1:
                return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]}
            return {"type": "string"}
        # Literal["a", "b", 1] → enum
        if base_name == "Literal":
            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
            values = []
            for e in elts:
                if isinstance(e, _ast.Constant):
                    values.append(e.value)
                elif isinstance(e, _ast.Name):
                    values.append(e.id)
            if values:
                return {"type": "string", "enum": values}
            return {"type": "string"}
        # List / Tuple / Set → array
        if base_name in ARRAY_TYPES:
            if isinstance(node.slice, _ast.Tuple) and node.slice.elts:
                inner_node = node.slice.elts[0]
            else:
                inner_node = node.slice
            return {"type": "array", "items": type_node_to_schema(inner_node, import_map)}
        # Dict → object
        if base_name in OBJECT_TYPES:
            schema: Dict[str, Any] = {"type": "object"}
            if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2:
                val_node = node.slice.elts[1]
                # Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束)
                is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or (
                    isinstance(val_node, _ast.Constant) and val_node.value is None
                )
                if not is_any:
                    val_schema = type_node_to_schema(val_node, import_map)
                    schema["additionalProperties"] = val_schema
            return schema
    # --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 ---
    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
        parts: list = []
        _collect_bitor(node, parts)
        non_none = [
            p
            for p in parts
            if not (isinstance(p, _ast.Constant) and p.value is None)
            and not (isinstance(p, _ast.Name) and p.id == "None")
        ]
        if len(non_none) == 1:
            return type_node_to_schema(non_none[0], import_map)
        if len(non_none) > 1:
            return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]}
        return {"type": "string"}
    return {"type": "string"}
 # ---------------------------------------------------------------------------
 # 真实类型对象解析 (import-based)
 # ---------------------------------------------------------------------------
 def resolve_type_object(type_ref: str) -> Optional[Any]:
    """通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。
    对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。
    import 失败时静默返回 None。
    """
    if ":" not in type_ref:
        return None
    try:
        return import_class(type_ref)
    except Exception:
        return None
 def is_typed_dict_class(obj: Any) -> bool:
    """检查对象是否是 TypedDict 类。"""
    if obj is None:
        return False
    try:
        from typing_extensions import is_typeddict
        return is_typeddict(obj)
    except ImportError:
        if isinstance(obj, type):
            return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__")
        return False
 def type_to_schema(tp: Any) -> Dict[str, Any]:
    """将真实 typing 对象递归转换为 JSON Schema dict。
    支持:
    - 基本类型: str, int, float, bool → {"type": "string"/"integer"/...}
    - typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...]
    - TypedDict → {"type": "object", "properties": {...}, "required": [...]}
    - 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"}
    """
    origin = getattr(tp, "__origin__", None)
    args = getattr(tp, "__args__", None)
    # --- None / NoneType ---
    if tp is type(None):
        return {"type": "null"}
    # --- 基本类型 ---
    if tp is str:
        return {"type": "string"}
    if tp is int:
        return {"type": "integer"}
    if tp is float:
        return {"type": "number"}
    if tp is bool:
        return {"type": "boolean"}
    # --- TypedDict ---
    if is_typed_dict_class(tp):
        try:
            return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp)
        except Exception:
            return {"type": "object"}
    # --- Literal ---
    if origin is typing.Literal:
        values = list(args) if args else []
        return {"type": "string", "enum": values}
    # --- Optional / Union ---
    if origin is typing.Union:
        non_none = [a for a in (args or ()) if a is not type(None)]
        if len(non_none) == 1:
            return type_to_schema(non_none[0])
        if len(non_none) > 1:
            return {"anyOf": [type_to_schema(a) for a in non_none]}
        return {"type": "string"}
    # --- List / Sequence / Set / Tuple / Iterable ---
    if origin in (list, tuple, set, frozenset) or (
        origin is not None
        and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence")
    ):
        if args:
            return {"type": "array", "items": type_to_schema(args[0])}
        return {"type": "array"}
    # --- Dict / Mapping ---
    if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")):
        schema: Dict[str, Any] = {"type": "object"}
        if args and len(args) >= 2:
            schema["additionalProperties"] = type_to_schema(args[1])
        return schema
    # --- Slot 类型 ---
    if isinstance(tp, type):
        name = tp.__name__
        if name in SLOT_TYPES:
            return {"$slot": name}
    # --- 其他未知类型 fallback ---
    if isinstance(tp, type):
        return {"type": "object"}
    return {"type": "string"}
 # ---------------------------------------------------------------------------
 # Slot / Placeholder 检测
 # ---------------------------------------------------------------------------
 def detect_slot_type(ptype) -> Tuple[Optional[str], bool]:
    """检测参数类型是否为 ResourceSlot / DeviceSlot。
    兼容多种格式:
    - runtime: "unilabos.registry.placeholder_type:ResourceSlot"
    - runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot")
    - AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]"
    Returns: (slot_name | None, is_list)
    """
    ptype_str = str(ptype)
    # 快速路径: 字符串里根本没有 Slot
    if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str:
        return (None, False)
    # runtime 格式: 完整模块路径
    if isinstance(ptype, str):
        if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot":
            return ("ResourceSlot", False)
        if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot":
            return ("DeviceSlot", False)
        # AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等
        if "[" in ptype:
            node = parse_type_node(ptype)
            if node is not None:
                schema = type_node_to_schema(node)
                # 直接是 slot
                if "$slot" in schema:
                    return (schema["$slot"], False)
                # array 包裹 slot: {"type": "array", "items": {"$slot": "..."}}
                items = schema.get("items", {})
                if isinstance(items, dict) and "$slot" in items:
                    return (items["$slot"], True)
        return (None, False)
    # runtime tuple 格式
    if isinstance(ptype, tuple) and len(ptype) == 2:
        inner_str = str(ptype[1])
        if "ResourceSlot" in inner_str:
            return ("ResourceSlot", True)
        if "DeviceSlot" in inner_str:
            return ("DeviceSlot", True)
    return (None, False)
 def detect_placeholder_keys(params: list) -> Dict[str, str]:
    """Detect parameters that reference ResourceSlot or DeviceSlot."""
    result: Dict[str, str] = {}
    for p in params:
        ptype = p.get("type", "")
        if "ResourceSlot" in str(ptype):
            result[p["name"]] = "unilabos_resources"
        elif "DeviceSlot" in str(ptype):
            result[p["name"]] = "unilabos_devices"
    return result
 # ---------------------------------------------------------------------------
 # Handle 规范化
 # ---------------------------------------------------------------------------
 def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
    """Convert AST-parsed handle structures to the standard registry format."""
    if not handles_raw:
        return []
    # handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值)
    _HANDLE_TYPE_TO_IO_TYPE = {
        "input": "target",
        "output": "source",
        "action_input": "action_target",
        "action_output": "action_source",
    }
    result: List[Dict[str, Any]] = []
    for h in handles_raw:
        if isinstance(h, dict):
            call = h.get("_call", "")
            if "InputHandle" in call:
                handle_type = "input"
            elif "OutputHandle" in call:
                handle_type = "output"
            elif "ActionInputHandle" in call:
                handle_type = "action_input"
            elif "ActionOutputHandle" in call:
                handle_type = "action_output"
            else:
                handle_type = h.get("handle_type", "unknown")
            io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type)
            entry: Dict[str, Any] = {
                "handler_key": h.get("key", ""),
                "data_type": h.get("data_type", ""),
                "io_type": io_type,
            }
            side = h.get("side")
            if side:
                if isinstance(side, str) and "." in side:
                    val = side.rsplit(".", 1)[-1]
                    side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
                entry["side"] = side
            label = h.get("label")
            if label:
                entry["label"] = label
            data_key = h.get("data_key")
            if data_key:
                entry["data_key"] = data_key
            data_source = h.get("data_source")
            if data_source:
                if isinstance(data_source, str) and "." in data_source:
                    val = data_source.rsplit(".", 1)[-1]
                    data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
                entry["data_source"] = data_source
            description = h.get("description")
            if description:
                entry["description"] = description
            result.append(entry)
    return result
 def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
    """Convert AST-parsed action handle list to {"input": [...], "output": [...]}.
    Mirrors the runtime behavior of decorators._action_handles_to_dict:
      - ActionInputHandle  => grouped under "input"
      - ActionOutputHandle => grouped under "output"
    Field mapping: key -> handler_key (matches Pydantic serialization_alias).
    """
    if not handles_raw or not isinstance(handles_raw, list):
        return {}
    input_list: List[Dict[str, Any]] = []
    output_list: List[Dict[str, Any]] = []
    for h in handles_raw:
        if not isinstance(h, dict):
            continue
        call = h.get("_call", "")
        is_input = "ActionInputHandle" in call or "InputHandle" in call
        is_output = "ActionOutputHandle" in call or "OutputHandle" in call
        entry: Dict[str, Any] = {
            "handler_key": h.get("key", ""),
            "data_type": h.get("data_type", ""),
            "label": h.get("label", ""),
        }
        for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
            val = h.get(opt_key)
            if val is not None:
                # Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
                # data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
                if (
                    isinstance(val, str)
                    and "." in val
                    and opt_key not in ("io_type", "data_key")
                ):
                    val = val.rsplit(".", 1)[-1].lower()
                entry[opt_key] = val
        # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
        if "io_type" not in entry and is_input:
            entry["io_type"] = "source"
        if is_input:
            input_list.append(entry)
        elif is_output:
            output_list.append(entry)
    result: Dict[str, Any] = {}
    if input_list:
        result["input"] = input_list
    # Always include output (empty list when no outputs) to match YAML
    result["output"] = output_list
    return result
 # ---------------------------------------------------------------------------
 # Schema 辅助
 # ---------------------------------------------------------------------------
 def wrap_action_schema(
    goal_schema: Dict[str, Any],
    action_name: str,
    description: str = "",
    result_schema: Optional[Dict[str, Any]] = None,
    feedback_schema: Optional[Dict[str, Any]] = None,
 ) -> Dict[str, Any]:
    """
    将 goal 参数 schema 包装为标准的 action schema 格式:
    { "properties": { "goal": ..., "feedback": ..., "result": ... }, ... }
    """
    # 去掉 auto- 前缀用于 title/description，与 YAML 路径保持一致
    display_name = action_name.removeprefix("auto-")
    return {
        "title": f"{display_name}参数",
        "description": description or f"{display_name}的参数schema",
        "type": "object",
        "properties": {
            "goal": goal_schema,
            "feedback": feedback_schema or {},
            "result": result_schema or {},
        },
        "required": ["goal"],
    }
 def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
    """保留之前 schema 中的 field descriptions"""
    if not prev_schema or not new_schema:
        return
    prev_props = prev_schema.get("properties", {})
    new_props = new_schema.get("properties", {})
    for field_name, prev_field in prev_props.items():
        if field_name in new_props and "title" in prev_field:
            new_props[field_name].setdefault("title", prev_field["title"])
 # ---------------------------------------------------------------------------
 # 深度对比
 # ---------------------------------------------------------------------------
 def _short(val, limit=120):
    """截断过长的值用于日志显示。"""
    s = repr(val)
    return s if len(s) <= limit else s[:limit] + "..."
 def deep_diff(old, new, path="", max_depth=10) -> list:
    """递归对比两个对象，返回所有差异的描述列表。"""
    diffs = []
    if max_depth <= 0:
        if old != new:
            diffs.append(f"{path}: (达到最大深度) OLD≠NEW")
        return diffs
    if type(old) != type(new):
        diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})")
        return diffs
    if isinstance(old, dict):
        old_keys = set(old.keys())
        new_keys = set(new.keys())
        for k in sorted(new_keys - old_keys):
            diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}")
        for k in sorted(old_keys - new_keys):
            diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}")
        for k in sorted(old_keys & new_keys):
            diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1))
    elif isinstance(old, (list, tuple)):
        if len(old) != len(new):
            diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}")
        for i in range(min(len(old), len(new))):
            diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1))
        if len(new) > len(old):
            for i in range(len(old), len(new)):
                diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}")
        elif len(old) > len(new):
            for i in range(len(new), len(old)):
                diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}")
    else:
        if old != new:
            diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}")
    return diffs
 # ---------------------------------------------------------------------------
 # MRO 方法参数解析
 # ---------------------------------------------------------------------------
 def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]:
    """当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数.
    返回 identity mapping {param_name: param_name}.
    """
    if not module_str or ":" not in module_str:
        return {}
    try:
        cls = import_class(module_str)
    except Exception as e:
        _logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}")
        return {}
    try:
        for base_cls in cls.__mro__:
            if method_name not in base_cls.__dict__:
                continue
            method = base_cls.__dict__[method_name]
            actual = getattr(method, "__wrapped__", method)
            if isinstance(actual, (staticmethod, classmethod)):
                actual = actual.__func__
            if not callable(actual):
                continue
            sig = inspect.signature(actual, follow_wrapped=True)
            params = [
                p.name for p in sig.parameters.values()
                if p.name not in ("self", "cls")
                and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
            ]
            if params:
                return {p: p for p in params}
    except Exception as e:
        _logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}")
    return {}
--- a/unilabos/resources/bioyond/bottle_carriers.py
+++ b/unilabos/resources/bioyond/bottle_carriers.py
@@ -1,4 +1,4 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
 from unilabos.resources.itemized_carrier import BottleCarrier
 from unilabos.resources.bioyond.bottles import (
@@ -9,28 +9,6 @@ from unilabos.resources.bioyond.bottles import (
    BIOYOND_PolymerStation_Reagent_Bottle,
    BIOYOND_PolymerStation_Flask,
 )
 def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
    """创建单个枪头资源
    Args:
        name: 枪头名称
        size_x: 枪头宽度 (mm)
        size_y: 枪头长度 (mm)
        size_z: 枪头高度 (mm)
    Returns:
        Container: 枪头容器
    """
    return Container(
        name=name,
        size_x=size_x,
        size_y=size_y,
        size_z=size_z,
        category="tip",
        model="BIOYOND_PolymerStation_Tip",
    )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
@@ -344,88 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
    carrier.num_items_z = 1
    carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
    return carrier
 def BIOYOND_PolymerStation_TipBox(
    name: str,
    size_x: float = 127.76,  # 枪头盒宽度
    size_y: float = 85.48,   # 枪头盒长度
    size_z: float = 100.0,   # 枪头盒高度
    barcode: str = None,
 ) -> BottleCarrier:
    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
    Args:
        name: 枪头盒名称
        size_x: 枪头盒宽度 (mm)
        size_y: 枪头盒长度 (mm)
        size_z: 枪头盒高度 (mm)
        barcode: 条形码
    Returns:
        BottleCarrier: 包含24个枪头孔位的枪头盒载架
    布局说明:
        - 4行×6列 (A-D, 1-6)
        - 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
        - 起始位置居中对齐
        - 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
    """
    # 枪头孔位参数
    num_cols = 6  # 1-6 (x方向)
    num_rows = 4  # A-D (y方向)
    tip_diameter = 8.0  # 枪头孔位直径
    tip_spacing_x = 18.0  # 列间距 (增加到18mm，更宽松)
    tip_spacing_y = 18.0  # 行间距 (增加到18mm，更宽松)
    # 计算起始位置 (居中对齐)
    total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
    total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
    start_x = (size_x - total_width) / 2
    start_y = (size_y - total_height) / 2
    # 使用 create_ordered_items_2d 创建孔位
    # create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
    # 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
    sites = create_ordered_items_2d(
        klass=ResourceHolder,
        num_items_x=num_cols,
        num_items_y=num_rows,
        dx=start_x,
        dy=start_y,
        dz=5.0,
        item_dx=tip_spacing_x,
        item_dy=tip_spacing_y,
        size_x=tip_diameter,
        size_y=tip_diameter,
        size_z=50.0,  # 枪头深度
    )
    # 更新 sites 中每个 ResourceHolder 的名称
    for k, v in sites.items():
        v.name = f"{name}_{v.name}"
    # 创建枪头盒载架
    # 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
    tip_box = BottleCarrier(
        name=name,
        size_x=size_x,
        size_y=size_y,
        size_z=size_z,
        sites=sites,  # 直接使用数字索引的 sites
        model="BIOYOND_PolymerStation_TipBox",
    )
    # 设置自定义属性
    tip_box.barcode = barcode
    tip_box.tip_count = 24  # 4行×6列
    tip_box.num_items_x = num_cols
    tip_box.num_items_y = num_rows
    tip_box.num_items_z = 1
    # ⭐ 枪头盒不需要放入子资源
    # 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
    # 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
    # 这样前端会显示24个空槽位，可以用于放置枪头
    return tip_box
--- a/unilabos/resources/bioyond/bottles.py
+++ b/unilabos/resources/bioyond/bottles.py
@@ -116,9 +116,7 @@ def BIOYOND_PolymerStation_TipBox(
    size_z: float = 100.0,   # 枪头盒高度
    barcode: str = None,
 ):
-    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
+    """创建4×6枪头盒 (24个枪头)
    注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
    Args:
        name: 枪头盒名称
@@ -128,11 +126,55 @@ def BIOYOND_PolymerStation_TipBox(
        barcode: 条形码
    Returns:
-        BottleCarrier: 包含24个枪头孔位的枪头盒载架
+        TipBoxCarrier: 包含24个枪头孔位的枪头盒
    """
-    # 重定向到 bottle_carriers.py 中的实现
+    from pylabrobot.resources import Container, Coordinate
-    from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
+
-    return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
+    # 创建枪头盒容器
    tip_box = Container(
        name=name,
        size_x=size_x,
        size_y=size_y,
        size_z=size_z,
        category="tip_rack",
        model="BIOYOND_PolymerStation_TipBox_4x6",
    )
    # 设置自定义属性
    tip_box.barcode = barcode
    tip_box.tip_count = 24  # 4行×6列
    tip_box.num_items_x = 6  # 6列
    tip_box.num_items_y = 4  # 4行
    # 创建24个枪头孔位 (4行×6列)
    # 假设孔位间距为 9mm
    tip_spacing_x = 9.0  # 列间距
    tip_spacing_y = 9.0  # 行间距
    start_x = 14.38  # 第一个孔位的x偏移
    start_y = 11.24  # 第一个孔位的y偏移
    for row in range(4):  # A, B, C, D
        for col in range(6):  # 1-6
            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
            x = start_x + col * tip_spacing_x
            y = start_y + row * tip_spacing_y
            # 创建枪头孔位容器
            tip_spot = Container(
                name=spot_name,
                size_x=8.0,  # 单个枪头孔位大小
                size_y=8.0,
                size_z=size_z - 10.0,  # 略低于盒子高度
                category="tip_spot",
            )
            # 添加到枪头盒
            tip_box.assign_child_resource(
                tip_spot,
                location=Coordinate(x=x, y=y, z=0)
            )
    return tip_box
 def BIOYOND_PolymerStation_Flask(
--- a/unilabos/resources/container.py
+++ b/unilabos/resources/container.py
@@ -12,9 +12,11 @@ class RegularContainer(Container):
            kwargs["size_y"] = 0
        if "size_z" not in kwargs:
            kwargs["size_z"] = 0
        if "category" not in kwargs:
            kwargs["category"] = "container"
        self.kwargs = kwargs
-        super().__init__(*args, category="container", **kwargs)
+        super().__init__(*args, **kwargs)
    def load_state(self, state: Dict[str, Any]):
        super().load_state(state)
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -76,7 +76,7 @@ def canonicalize_nodes_data(
            if sample_id:
                logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
        for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra", "machine_name"]:
                v = node.pop(k)
                node["config"][k] = v
    if outer_host_node_id is not None:
@@ -288,6 +288,15 @@ def read_node_link_json(
    physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False)
    handle_communications(physical_setup_graph)
    # Stamp machine_name on device trees only (resources are cloud-managed)
    local_machine = BasicConfig.machine_name or "本地"
    for tree in resource_tree_set.trees:
        if tree.root_node.res_content.type != "device":
            continue
        for node in tree.get_all_nodes():
            if not node.res_content.machine_name:
                node.res_content.machine_name = local_machine
    return physical_setup_graph, resource_tree_set, standardized_links
@@ -372,6 +381,15 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
    physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
    handle_communications(physical_setup_graph)
    # Stamp machine_name on device trees only (resources are cloud-managed)
    local_machine = BasicConfig.machine_name or "本地"
    for tree in resource_tree_set.trees:
        if tree.root_node.res_content.type != "device":
            continue
        for node in tree.get_all_nodes():
            if not node.res_content.machine_name:
                node.res_content.machine_name = local_machine
    return physical_setup_graph, resource_tree_set, standardized_links
@@ -779,12 +797,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                    bottle = plr_material[number] = initialize_resource(
                        {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
                    )
-                    # 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
+                    bottle.tracker.liquids = [
-                    # ResourceHolder 等不支持液体追踪的容器跳过
+                        (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
-                    if hasattr(bottle, "tracker"):
+                    ]
                        bottle.tracker.liquids = [
                            (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                        ]
                    bottle.code = detail.get("code", "")
                    logger.debug(f"  └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
                else:
@@ -793,11 +808,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
            if hasattr(plr_material, 'capacity'):
                bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-                # 确保 bottle 有 tracker 属性才设置液体信息
+                bottle.tracker.liquids = [
-                if hasattr(bottle, "tracker"):
+                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-                    bottle.tracker.liquids = [
+                ]
                        (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
                    ]
        plr_materials.append(plr_material)
@@ -826,29 +839,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                wh_name = loc.get("whName")
                logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
                # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
                # 必须在warehouse映射之前先获取坐标，以便后续调整
                x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
                y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
                z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
-                # 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
                if wh_name == "堆栈1":
-                    if 1 <= y <= 4:
+                    x_val = loc.get("x", 1)
                    if 1 <= x_val <= 4:
                        wh_name = "堆栈1左"
-                    elif 5 <= y <= 8:
+                    elif 5 <= x_val <= 8:
                        wh_name = "堆栈1右"
                        y = y - 4  # 调整列号: 5-8映射到1-4
                    else:
-                        logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
+                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
                        continue
                # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
                if wh_name == "站内Tip盒堆栈":
-                    if y == 1:
+                    y_val = loc.get("y", 1)
                    if y_val == 1:
                        wh_name = "站内Tip盒堆栈(右)"
-                    elif y in [2, 3]:
+                    elif y_val in [2, 3]:
                        wh_name = "站内Tip盒堆栈(左)"
                        y = y - 1  # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
@@ -856,6 +864,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                    warehouse = deck.warehouses[wh_name]
                    logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
                    if wh_name == "堆栈1右":
                        y = y - 4  # 将5-8映射到1-4
                    # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
                    # 这些warehouse使用 vertical-col-major 布局
                    if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
--- a/unilabos/resources/plr_additional_res_reg.py
+++ b/unilabos/resources/plr_additional_res_reg.py
@@ -18,9 +18,3 @@ def register():
    from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
    from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
    # noinspection PyUnresolvedReferences
    from unilabos.resources.bioyond.decks import (
        BIOYOND_PolymerReactionStation_Deck,
        BIOYOND_PolymerPreparationStation_Deck,
        BIOYOND_YB_Deck,
    )
--- a/unilabos/resources/resource_tracker.py
+++ b/unilabos/resources/resource_tracker.py
@@ -120,6 +120,7 @@ class ResourceDictType(TypedDict):
    config: Dict[str, Any]
    data: Dict[str, Any]
    extra: Dict[str, Any]
    machine_name: str
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -141,6 +142,7 @@ class ResourceDict(BaseModel):
    config: Dict[str, Any] = Field(description="Resource configuration")
    data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data")
    extra: Dict[str, Any] = Field(description="Extra data, eg: slot index")
    machine_name: str = Field(description="Machine this resource belongs to", default="")
    @field_serializer("parent_uuid")
    def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
@@ -196,22 +198,30 @@ class ResourceDictInstance(object):
        self.typ = "dict"
    @classmethod
-    def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance":
+    def get_resource_instance_from_dict(cls, content: ResourceDictType) -> "ResourceDictInstance":
        """从字典创建资源实例"""
        if "id" not in content:
            content["id"] = content["name"]
        if "uuid" not in content:
            content["uuid"] = str(uuid.uuid4())
        if "description" in content and content["description"] is None:
            # noinspection PyTypedDict
            del content["description"]
        if "model" in content and content["model"] is None:
            # noinspection PyTypedDict
            del content["model"]
        # noinspection PyTypedDict
        if "schema" in content and content["schema"] is None:
            # noinspection PyTypedDict
            del content["schema"]
        # noinspection PyTypedDict
        if "x" in content.get("position", {}):
            # 说明是老版本的position格式，转换成新的
            # noinspection PyTypedDict
            content["position"] = {"position": content["position"]}
        # noinspection PyTypedDict
        if not content.get("class"):
            # noinspection PyTypedDict
            content["class"] = ""
        if not content.get("config"):  # todo: 后续从后端保证字段非空
            content["config"] = {}
@@ -222,16 +232,18 @@ class ResourceDictInstance(object):
        if "position" in content:
            pose = content.get("pose", {})
            if "position" not in pose:
                # noinspection PyTypedDict
                if "position" in content["position"]:
                    # noinspection PyTypedDict
                    pose["position"] = content["position"]["position"]
                else:
-                    pose["position"] = {"x": 0, "y": 0, "z": 0}
+                    pose["position"] = ResourceDictPositionObjectType(x=0, y=0, z=0)
            if "size" not in pose:
-                pose["size"] = {
+                pose["size"] = ResourceDictPositionSizeType(
-                    "width": content["config"].get("size_x", 0),
+                    width= content["config"].get("size_x", 0),
-                    "height": content["config"].get("size_y", 0),
+                    height= content["config"].get("size_y", 0),
-                    "depth": content["config"].get("size_z", 0),
+                    depth= content["config"].get("size_z", 0),
-                }
+                )
            content["pose"] = pose
        try:
            res_dict = ResourceDict.model_validate(content)
@@ -399,7 +411,7 @@ class ResourceTreeSet(object):
            )
    @classmethod
-    def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
+    def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False, old_size=False) -> "ResourceTreeSet":
        """
        从plr资源创建ResourceTreeSet
        """
@@ -411,7 +423,6 @@ class ResourceTreeSet(object):
                "deck": "deck",
                "tip_rack": "tip_rack",
                "tip_spot": "tip_spot",
                "tip": "tip",  # 添加 tip 类型支持
                "tube": "tube",
                "bottle_carrier": "bottle_carrier",
                "material_hole": "material_hole",
@@ -423,13 +434,20 @@ class ResourceTreeSet(object):
                "resource_group": "resource_group",
                "trash": "trash",
                "plate_adapter": "plate_adapter",
                "consumable": "consumable",
                "tool": "tool",
                "condenser": "condenser",
                "crucible": "crucible",
                "reagent_bottle": "reagent_bottle",
                "flask": "flask",
                "beaker": "beaker",
            }
            if source in replace_info:
                return replace_info[source]
            elif source is None:
                return ""
            else:
-                print("转换pylabrobot的时候，出现未知类型", source)
+                logger.trace(f"转换pylabrobot的时候，出现未知类型 {source}")
                return source
        def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None):
@@ -484,7 +502,7 @@ class ResourceTreeSet(object):
                    k: v
                    for k, v in d.items()
                    if k
-                    not in [
+                    not in ([
                        "name",
                        "children",
                        "parent_name",
@@ -495,7 +513,15 @@ class ResourceTreeSet(object):
                        "size_z",
                        "cross_section_type",
                        "bottom_type",
-                    ]
+                    ] if not old_size else [
                        "name",
                        "children",
                        "parent_name",
                        "location",
                        "rotation",
                        "cross_section_type",
                        "bottom_type",
                    ])
                },
                "data": states[d["name"]],
                "extra": extra,
@@ -794,7 +820,8 @@ class ResourceTreeSet(object):
            if remote_root_type == "device":
                # 情况1: 一级是 device
                if remote_root_id not in local_device_map:
-                    logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
+                    if remote_root_id != "host_node":
                        logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
                    continue
                local_device = local_device_map[remote_root_id]
@@ -884,7 +911,7 @@ class ResourceTreeSet(object):
        return self
-    def dump(self) -> List[List[Dict[str, Any]]]:
+    def dump(self, old_position=False) -> List[List[Dict[str, Any]]]:
        """
        将 ResourceTreeSet 序列化为嵌套列表格式
@@ -900,6 +927,10 @@ class ResourceTreeSet(object):
            # 获取树的所有节点并序列化
            tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()]
            result.append(tree_nodes)
        if old_position:
            for r in result:
                for rr in r:
                    rr["position"] = rr["pose"]["position"]
        return result
    @classmethod
--- a/unilabos/ros/msgs/message_converter.py
+++ b/unilabos/ros/msgs/message_converter.py
@@ -11,6 +11,7 @@ from io import StringIO
 from typing import Iterable, Any, Dict, Type, TypeVar, Union
 import yaml
 from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
 from pydantic import BaseModel
 from dataclasses import asdict, is_dataclass
@@ -727,46 +728,9 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
    Returns:
        对应的 JSON Schema 定义
    """
-    schema = {"type": "object", "properties": {}, "required": []}
+    schema = ROS2MessageInstance(msg_class()).get_json_schema()
    # 优先使用字段名作为标题，否则使用类名
    schema["title"] = field_name
-
+    schema.pop("description")
    # 获取消息的字段和字段类型
    try:
        for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
            slot_name, slot_type = slot_info
            type_info = msg_class.SLOT_TYPES[ind]
            field_schema = ros_field_type_to_json_schema(type_info, slot_name)
            schema["properties"][slot_name] = field_schema
            schema["required"].append(slot_name)
        # if hasattr(msg_class, 'get_fields_and_field_types'):
        #     fields_and_types = msg_class.get_fields_and_field_types()
        #
        #     for field_name, field_type in fields_and_types.items():
        #         # 将 ROS 字段类型转换为 JSON Schema
        #         field_schema = ros_field_type_to_json_schema(field_type)
        #
        #         schema['properties'][field_name] = field_schema
        #         schema['required'].append(field_name)
        # elif hasattr(msg_class, '__slots__') and hasattr(msg_class, '_fields_and_field_types'):
        #     # 直接从实例属性获取
        #     for field_name in msg_class.__slots__:
        #         # 移除前导下划线（如果有）
        #         clean_name = field_name[1:] if field_name.startswith('_') else field_name
        #
        #         # 从 _fields_and_field_types 获取类型
        #         if clean_name in msg_class._fields_and_field_types:
        #             field_type = msg_class._fields_and_field_types[clean_name]
        #             field_schema = ros_field_type_to_json_schema(field_type)
        #
        #             schema['properties'][clean_name] = field_schema
        #             schema['required'].append(clean_name)
    except Exception as e:
        # 如果获取字段类型失败，添加错误信息
        schema["description"] = f"解析消息字段时出错: {str(e)}"
        logger.error(f"解析 {msg_class.__name__} 消息字段失败: {str(e)}")
    return schema
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -34,7 +34,8 @@ from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unilabos.config.config import BasicConfig
-from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
+from unilabos.registry.decorators import get_topic_config
 from unilabos.utils.decorator import get_all_subscriptions
 from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import (
@@ -57,6 +58,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos.resources.resource_tracker import (
    DeviceNodeResourceTracker,
    ResourceDictType,
    ResourceTreeSet,
    ResourceTreeInstance,
    ResourceDictInstance,
@@ -194,9 +196,9 @@ class PropertyPublisher:
        self._value = None
        try:
            self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
-        except AttributeError as ex:
+        except Exception as e:
            self.node.lab_logger().error(
-                f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
+                f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {e}"
            )
        self.timer = node.create_timer(self.timer_period, self.publish_property)
        self.__loop = ROS2DeviceNode.get_asyncio_loop()
@@ -569,9 +571,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                future.add_done_callback(done_cb)
            except ImportError:
                self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
                res.response = get_result_info_str(traceback.format_exc(), False, {})
            except Exception as e:
                self.lab_logger().error("Host请求添加物料时出错")
                self.lab_logger().error(traceback.format_exc())
                res.response = get_result_info_str(traceback.format_exc(), False, {})
            return res
        # noinspection PyTypeChecker
@@ -594,6 +598,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                self.s2c_resource_tree,  # type: ignore
                callback_group=self.callback_group,
            ),
            "s2c_device_manage": self.create_service(
                SerialCommand,
                f"/srv{self.namespace}/s2c_device_manage",
                self.s2c_device_manage,  # type: ignore
                callback_group=self.callback_group,
            ),
        }
        # 向全局在线设备注册表添加设备信息
@@ -1062,6 +1072,48 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        return res
    async def s2c_device_manage(self, req: SerialCommand_Request, res: SerialCommand_Response):
        """Handle add/remove device requests from HostNode via SerialCommand."""
        try:
            cmd = json.loads(req.command)
            action = cmd.get("action", "")
            data = cmd.get("data", {})
            device_id = data.get("device_id", "")
            if not device_id:
                res.response = json.dumps({"success": False, "error": "device_id required"})
                return res
            if action == "add":
                result = self.create_device(device_id, data)
            elif action == "remove":
                result = self.destroy_device(device_id)
            else:
                result = {"success": False, "error": f"Unknown action: {action}"}
            res.response = json.dumps(result, ensure_ascii=False)
        except NotImplementedError as e:
            self.lab_logger().warning(f"[DeviceManage] {e}")
            res.response = json.dumps({"success": False, "error": str(e)})
        except Exception as e:
            self.lab_logger().error(f"[DeviceManage] Error: {e}")
            res.response = json.dumps({"success": False, "error": str(e)})
        return res
    def create_device(self, device_id: str, config: "ResourceDictType") -> dict:
        """Create a sub-device dynamically. Override in HostNode / WorkstationNode."""
        raise NotImplementedError(
            f"{self.__class__.__name__} does not support dynamic device creation"
        )
    def destroy_device(self, device_id: str) -> dict:
        """Destroy a sub-device dynamically. Override in HostNode / WorkstationNode."""
        raise NotImplementedError(
            f"{self.__class__.__name__} does not support dynamic device removal"
        )
    async def transfer_resource_to_another(
        self,
        plr_resources: List["ResourcePLR"],
@@ -1204,22 +1256,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        return self._lab_logger
    def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
-        """创建ROS发布者"""
+        """创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
-        # 检测装饰器配置（支持 get_{attr_name} 方法和 @property）
+        # 检测 @topic_config 装饰器配置
        topic_config = {}
        driver_class = type(self.driver_instance)
-        # 优先检测 get_{attr_name} 方法
+        # 区分 @property 和普通方法两种情况
-        if hasattr(self.driver_instance, f"get_{attr_name}"):
+        is_prop = hasattr(driver_class, attr_name) and isinstance(
-            getter_method = getattr(self.driver_instance, f"get_{attr_name}")
+            getattr(driver_class, attr_name), property
-            topic_config = get_topic_config(getter_method)
+        )
-        # 如果没有配置，检测 @property 装饰的属性
+        if is_prop:
            # @property: 检测 fget 上的 @topic_config
            class_attr = getattr(driver_class, attr_name)
            if class_attr.fget is not None:
                topic_config = get_topic_config(class_attr.fget)
        else:
            # 普通方法: 直接检测 attr_name 方法上的 @topic_config
            if hasattr(self.driver_instance, attr_name):
                method = getattr(self.driver_instance, attr_name)
                if callable(method):
                    topic_config = get_topic_config(method)
        # 没有 @topic_config 装饰器则跳过发布
        if not topic_config:
-            driver_class = type(self.driver_instance)
+            return
-            if hasattr(driver_class, attr_name):
+
-                class_attr = getattr(driver_class, attr_name)
+        # 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
-                if isinstance(class_attr, property) and class_attr.fget is not None:
+        cfg_name = topic_config.get("name")
-                    topic_config = get_topic_config(class_attr.fget)
+        if cfg_name:
            publish_name = cfg_name
        elif attr_name.startswith("get_"):
            publish_name = attr_name[4:]
        else:
            publish_name = attr_name
        # 使用装饰器配置或默认值
        cfg_period = topic_config.get("period")
@@ -1232,10 +1302,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        # 获取属性值的方法
        def get_device_attr():
            try:
-                if hasattr(self.driver_instance, f"get_{attr_name}"):
+                if is_prop:
                    return getattr(self.driver_instance, f"get_{attr_name}")()
                else:
                    return getattr(self.driver_instance, attr_name)
                else:
                    return getattr(self.driver_instance, attr_name)()
            except AttributeError as ex:
                if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"):
                    self.lab_logger().error(
@@ -1247,8 +1317,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    )
                    self.lab_logger().error(traceback.format_exc())
-        self._property_publishers[attr_name] = PropertyPublisher(
+        self._property_publishers[publish_name] = PropertyPublisher(
-            self, attr_name, get_device_attr, msg_type, period, print_publish, qos
+            self, publish_name, get_device_attr, msg_type, period, print_publish, qos
        )
    def create_ros_action_server(self, action_name, action_value_mapping):
@@ -1256,14 +1326,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        action_type = action_value_mapping["type"]
        str_action_type = str(action_type)[8:-2]
-        self._action_servers[action_name] = ActionServer(
+        try:
-            self,
+            self._action_servers[action_name] = ActionServer(
-            action_type,
+                self,
-            action_name,
+                action_type,
-            execute_callback=self._create_execute_callback(action_name, action_value_mapping),
+                action_name,
-            callback_group=self.callback_group,
+                execute_callback=self._create_execute_callback(action_name, action_value_mapping),
-        )
+                callback_group=self.callback_group,
-
+            )
        except Exception as e:
            self.lab_logger().error(f"创建ActionServer失败，Device: {self.device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}")
            return
        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
    def _setup_decorated_subscribers(self):
--- a/unilabos/ros/nodes/presets/camera.py
+++ b/unilabos/ros/nodes/presets/camera.py
@@ -4,7 +4,14 @@ import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.registry.decorators import device
@device(
    id="camera",
    category=["camera"],
    description="""VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。""",
 )
 class VideoPublisher(BaseROS2DeviceNode):
    def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
        # 初始化BaseROS2DeviceNode，使用自身作为driver_instance
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -12,6 +12,7 @@ from geometry_msgs.msg import Point
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.service import Service
 from typing_extensions import TypedDict
 from unilabos_msgs.action import EmptyIn, StrSingleInput, ResourceCreateFromOuterEasy, ResourceCreateFromOuter
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
    ResourceAdd,
@@ -23,6 +24,7 @@ from unilabos_msgs.srv import (
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
 from unilabos.registry.decorators import device
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.container import RegularContainer
@@ -30,6 +32,7 @@ from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
 from unilabos.resources.resource_tracker import (
    ResourceDict,
    ResourceDictType,
    ResourceDictInstance,
    ResourceTreeSet,
    ResourceTreeInstance,
@@ -65,7 +68,13 @@ class DeviceActionStatus:
 class TestResourceReturn(TypedDict):
    resources: List[List[ResourceDict]]
    devices: List[Dict[str, Any]]
-    unilabos_samples: List[LabSample]
+    # unilabos_samples: List[LabSample]
 class CreateResourceReturn(TypedDict):
    created_resource_tree: List[List[ResourceDict]]
    liquid_input_resource_tree: List[Dict[str, Any]]
    # unilabos_samples: List[LabSample]
 class TestLatencyReturn(TypedDict):
@@ -80,6 +89,7 @@ class TestLatencyReturn(TypedDict):
    status: str
@device(id="host_node", category=[], description="Host Node", icon="icon_device.webp")
 class HostNode(BaseROS2DeviceNode):
    """
    主机节点类，负责管理设备、资源和控制器
@@ -268,44 +278,42 @@ class HostNode(BaseROS2DeviceNode):
        self._action_clients: Dict[str, ActionClient] = {  # 为了方便了解实际的数据类型，host的默认写好
            "/devices/host_node/create_resource": ActionClient(
                self,
-                lab_registry.ResourceCreateFromOuterEasy,
+                ResourceCreateFromOuterEasy,
                "/devices/host_node/create_resource",
                callback_group=self.callback_group,
            ),
            "/devices/host_node/create_resource_detailed": ActionClient(
                self,
-                lab_registry.ResourceCreateFromOuter,
+                ResourceCreateFromOuter,
                "/devices/host_node/create_resource_detailed",
                callback_group=self.callback_group,
            ),
            "/devices/host_node/test_latency": ActionClient(
                self,
-                lab_registry.EmptyIn,
+                EmptyIn,
                "/devices/host_node/test_latency",
                callback_group=self.callback_group,
            ),
            "/devices/host_node/test_resource": ActionClient(
                self,
-                lab_registry.EmptyIn,
+                EmptyIn,
                "/devices/host_node/test_resource",
                callback_group=self.callback_group,
            ),
            "/devices/host_node/_execute_driver_command": ActionClient(
                self,
-                lab_registry.StrSingleInput,
+                StrSingleInput,
                "/devices/host_node/_execute_driver_command",
                callback_group=self.callback_group,
            ),
            "/devices/host_node/_execute_driver_command_async": ActionClient(
                self,
-                lab_registry.StrSingleInput,
+                StrSingleInput,
                "/devices/host_node/_execute_driver_command_async",
                callback_group=self.callback_group,
            ),
        }  # 用来存储多个ActionClient实例
-        self._action_value_mappings: Dict[str, Dict] = (
+        self._action_value_mappings: Dict[str, Dict] = {}  # device_id -> action_value_mappings(本地+远程设备统一存储)
            {}
        )  # device_id -> action_value_mappings(本地+远程设备统一存储)
        self._slave_registry_configs: Dict[str, Dict] = {}  # registry_name -> registry_config(含action_value_mappings)
        self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
        self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
@@ -323,10 +331,18 @@ class HostNode(BaseROS2DeviceNode):
        self._discover_devices()
        # 初始化所有本机设备节点，多一次过滤，防止重复初始化
        local_machine = BasicConfig.machine_name
        for device_config in devices_config.root_nodes:
            device_id = device_config.res_content.id
            if device_config.res_content.type != "device":
                continue
            dev_machine = device_config.res_content.machine_name
            if dev_machine and local_machine and dev_machine != local_machine:
                self.lab_logger().info(
                    f"[Host Node] Device {device_id} belongs to machine '{dev_machine}', "
                    f"local is '{local_machine}', skipping initialization."
                )
                continue
            if device_id not in self.devices_names:
                self.initialize_device(device_id, device_config)
            else:
@@ -556,7 +572,7 @@ class HostNode(BaseROS2DeviceNode):
        liquid_type: list[str] = [],
        liquid_volume: list[int] = [],
        slot_on_deck: str = "",
-    ):
+    ) -> CreateResourceReturn:
        # 暂不支持多对同名父子同时存在
        res_creation_input = {
            "id": res_id.split("/")[-1],
@@ -609,6 +625,8 @@ class HostNode(BaseROS2DeviceNode):
            assert len(response) == 1, "Create Resource应当只返回一个结果"
            for i in response:
                res = json.loads(i)
                if "suc" in res:
                    raise ValueError(res.get("error"))
                return res
        except Exception as ex:
            pass
@@ -650,7 +668,12 @@ class HostNode(BaseROS2DeviceNode):
            action_id = f"/devices/{device_id}/{action_name}"
            if action_id not in self._action_clients:
                action_type = action_value_mapping["type"]
-                self._action_clients[action_id] = ActionClient(self, action_type, action_id)
+                try:
                    self._action_clients[action_id] = ActionClient(self, action_type, action_id)
                except Exception as e:
                    self.lab_logger().error(
                        f"创建ActionClient失败，Device: {device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}")
                    continue
                self.lab_logger().trace(
                    f"[Host Node] Created ActionClient (Local): {action_id}"
                )  # 子设备再创建用的是Discover发现的
@@ -1250,9 +1273,9 @@ class HostNode(BaseROS2DeviceNode):
                # 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
                if registry_name and registry_name in self._slave_registry_configs:
-                    action_mappings = self._slave_registry_configs[registry_name].get(
+                    action_mappings = (
-                        "class", {}
+                        self._slave_registry_configs[registry_name].get("class", {}).get("action_value_mappings", {})
-                    ).get("action_value_mappings", {})
+                    )
                    if action_mappings:
                        self._action_value_mappings[edge_device_id] = action_mappings
                        self.lab_logger().info(
@@ -1272,14 +1295,19 @@ class HostNode(BaseROS2DeviceNode):
                # 解析 devices_config,建立 device_id -> action_value_mappings 映射
                if devices_config:
                    machine_name = info["machine_name"]
                    # Stamp machine_name on each device dict before parsing
                    for device_tree in devices_config:
                        for device_dict in device_tree:
                            device_dict["machine_name"] = machine_name
                            device_id = device_dict.get("id", "")
                            class_name = device_dict.get("class", "")
                            if device_id and class_name and class_name in self._slave_registry_configs:
-                                action_mappings = self._slave_registry_configs[class_name].get(
+                                action_mappings = (
-                                    "class", {}
+                                    self._slave_registry_configs[class_name]
-                                ).get("action_value_mappings", {})
+                                    .get("class", {})
                                    .get("action_value_mappings", {})
                                )
                                if action_mappings:
                                    self._action_value_mappings[device_id] = action_mappings
                                    self.lab_logger().info(
@@ -1287,6 +1315,18 @@ class HostNode(BaseROS2DeviceNode):
                                        f"for remote device {device_id} (class: {class_name})"
                                    )
                    # Merge slave devices_config into self.devices_config tree
                    try:
                        slave_tree_set = ResourceTreeSet.load(devices_config)  # slave一定是根节点的tree
                        for tree in slave_tree_set.trees:
                            self.devices_config.trees.append(tree)
                        self.lab_logger().info(
                            f"[Host Node] Merged {len(slave_tree_set.trees)} slave device trees "
                            f"(machine: {machine_name}) into devices_config"
                        )
                    except Exception as e:
                        self.lab_logger().error(f"[Host Node] Failed to merge slave devices_config: {e}")
            self.lab_logger().debug(f"[Host Node] Node info update: {info}")
            response.response = "OK"
        except Exception as e:
@@ -1695,3 +1735,177 @@ class HostNode(BaseROS2DeviceNode):
            self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}")
            self.lab_logger().error(traceback.format_exc())
            return False
    # ------------------------------------------------------------------
    # Device lifecycle (add / remove) — pure forwarder
    # ------------------------------------------------------------------
    def notify_device_manage(self, target_node_id: str, action: str, config: ResourceDictType) -> bool:
        """Forward an add/remove device command to the target node via ROS2 SerialCommand.
        The HostNode does NOT interpret the command; it simply resolves the
        target namespace and forwards the request to ``s2c_device_manage``.
        If *target_node_id* equals the HostNode's own device_id (i.e. the
        command targets the host itself), we call our local ``create_device``
        / ``destroy_device`` directly instead of going through ROS2.
        """
        try:
            # If the target is the host itself, handle locally
            device_id = config["id"]
            if target_node_id == self.device_id:
                if action == "add":
                    return self.create_device(device_id, config).get("success", False)
                elif action == "remove":
                    return self.destroy_device(device_id).get("success", False)
            if target_node_id not in self.devices_names:
                self.lab_logger().error(
                    f"[Host Node-DeviceMgr] Target {target_node_id} not found in devices_names"
                )
                return False
            namespace = self.devices_names[target_node_id]
            device_key = f"{namespace}/{target_node_id}"
            if device_key not in self._online_devices:
                self.lab_logger().error(f"[Host Node-DeviceMgr] Target {device_key} is offline")
                return False
            srv_address = f"/srv{namespace}/s2c_device_manage"
            self.lab_logger().info(
                f"[Host Node-DeviceMgr] Forwarding {action}_device to {target_node_id} ({srv_address})"
            )
            sclient = self.create_client(SerialCommand, srv_address)
            if not sclient.wait_for_service(timeout_sec=5.0):
                self.lab_logger().error(f"[Host Node-DeviceMgr] Service {srv_address} not available")
                return False
            request = SerialCommand.Request()
            request.command = json.dumps({"action": action, "data": config}, ensure_ascii=False)
            future = sclient.call_async(request)
            timeout = 30.0
            start_time = time.time()
            while not future.done():
                if time.time() - start_time > timeout:
                    self.lab_logger().error(
                        f"[Host Node-DeviceMgr] Timeout waiting for {action}_device on {target_node_id}"
                    )
                    return False
                time.sleep(0.05)
            response = future.result()
            self.lab_logger().info(
                f"[Host Node-DeviceMgr] {action}_device on {target_node_id} completed"
            )
            return True
        except Exception as e:
            self.lab_logger().error(f"[Host Node-DeviceMgr] Error: {e}")
            self.lab_logger().error(traceback.format_exc())
            return False
    def create_device(self, device_id: str, config: ResourceDictType) -> dict:
        """Dynamically create a root-level device on the host."""
        if not device_id:
            return {"success": False, "error": "device_id required"}
        if device_id in self.devices_names:
            return {"success": False, "error": f"Device {device_id} already exists"}
        try:
            config.setdefault("id", device_id)
            config.setdefault("type", "device")
            config.setdefault("machine_name", BasicConfig.machine_name or "本地")
            res_dict = ResourceDictInstance.get_resource_instance_from_dict(config)
            self.initialize_device(device_id, res_dict)
            if device_id not in self.devices_names:
                return {"success": False, "error": f"initialize_device failed for {device_id}"}
            # Add to config tree (devices_config)
            tree = ResourceTreeInstance(res_dict)
            self.devices_config.trees.append(tree)
            # Add to resource tracker so s2c_resource_tree can find it
            try:
                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
                    self._resource_tracker.add_resource(plr_resource)
            except Exception as ex:
                self.lab_logger().warning(f"[Host Node-DeviceMgr] PLR resource registration skipped: {ex}")
            self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} created successfully")
            return {"success": True, "device_id": device_id}
        except Exception as e:
            self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to create {device_id}: {e}")
            self.lab_logger().error(traceback.format_exc())
            return {"success": False, "error": str(e)}
    def destroy_device(self, device_id: str) -> dict:
        """Remove a root-level device from the host."""
        if not device_id:
            return {"success": False, "error": "device_id required"}
        if device_id not in self.devices_names:
            return {"success": False, "error": f"Device {device_id} not found"}
        if device_id == self.device_id:
            return {"success": False, "error": "Cannot destroy host_node itself"}
        try:
            namespace = self.devices_names[device_id]
            device_key = f"{namespace}/{device_id}"
            # Remove action clients
            action_prefix = f"/devices/{device_id}/"
            to_remove = [k for k in self._action_clients if k.startswith(action_prefix)]
            for k in to_remove:
                try:
                    self._action_clients[k].destroy()
                except Exception:
                    pass
                del self._action_clients[k]
            # Remove from config tree (devices_config)
            self.devices_config.trees = [
                t for t in self.devices_config.trees
                if t.root_node.res_content.id != device_id
            ]
            # Remove from resource tracker
            try:
                tracked = self._resource_tracker.uuid_to_resources.copy()
                for uid, res in tracked.items():
                    res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None)
                    if res_id == device_id:
                        self._resource_tracker.remove_resource(res)
            except Exception as ex:
                self.lab_logger().warning(f"[Host Node-DeviceMgr] Resource tracker cleanup: {ex}")
            # Clean internal state
            self._online_devices.discard(device_key)
            self.devices_names.pop(device_id, None)
            self.device_machine_names.pop(device_id, None)
            self._action_value_mappings.pop(device_id, None)
            # Destroy the ROS2 node of the device
            instance = self.devices_instances.pop(device_id, None)
            if instance is not None:
                try:
                    # noinspection PyProtectedMember
                    ros_node = getattr(instance, "_ros_node", None)
                    if ros_node is not None:
                        ros_node.destroy_node()
                except Exception as e:
                    self.lab_logger().warning(f"[Host Node-DeviceMgr] Error destroying ROS node for {device_id}: {e}")
            self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} destroyed")
            return {"success": True, "device_id": device_id}
        except Exception as e:
            self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to destroy {device_id}: {e}")
            self.lab_logger().error(traceback.format_exc())
            return {"success": False, "error": str(e)}
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -20,7 +20,7 @@ from unilabos.ros.msgs.message_converter import (
    convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceDictType, ResourceTreeSet, ResourceDictInstance
 from unilabos.utils.type_check import get_result_info_str
 if TYPE_CHECKING:
@@ -177,6 +177,103 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                    self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
        return d
    def create_device(self, device_id: str, config: ResourceDictType) -> dict:
        """Dynamically add a sub-device to this workstation."""
        if not device_id:
            return {"success": False, "error": "device_id required"}
        if device_id in self.sub_devices:
            return {"success": False, "error": f"Sub-device {device_id} already exists"}
        try:
            from unilabos.config.config import BasicConfig
            config.setdefault("id", device_id)
            config.setdefault("type", "device")
            config.setdefault("machine_name", BasicConfig.machine_name or "本地")
            res_dict = ResourceDictInstance.get_resource_instance_from_dict(config)
            d = self.initialize_device(device_id, res_dict)
            if d is None:
                return {"success": False, "error": f"initialize_device returned None for {device_id}"}
            # Add to children config list
            self.children.append(res_dict)
            # Add to resource tracker
            try:
                from unilabos.resources.resource_tracker import ResourceTreeInstance
                tree = ResourceTreeInstance(res_dict)
                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
                    self.resource_tracker.add_resource(plr_resource)
            except Exception as ex:
                self.lab_logger().warning(f"[Workstation-DeviceMgr] PLR resource registration skipped: {ex}")
            self.lab_logger().info(f"[Workstation-DeviceMgr] Sub-device {device_id} created")
            return {"success": True, "device_id": device_id}
        except Exception as e:
            self.lab_logger().error(f"[Workstation-DeviceMgr] Failed to create {device_id}: {e}")
            self.lab_logger().error(traceback.format_exc())
            return {"success": False, "error": str(e)}
    def destroy_device(self, device_id: str) -> dict:
        """Dynamically remove a sub-device from this workstation."""
        if not device_id:
            return {"success": False, "error": "device_id required"}
        if device_id not in self.sub_devices:
            return {"success": False, "error": f"Sub-device {device_id} not found"}
        try:
            # Remove from children config list
            self.children = [
                c for c in self.children
                if c.res_content.id != device_id
            ]
            # Remove from resource tracker
            try:
                tracked = self.resource_tracker.uuid_to_resources.copy()
                for uid, res in tracked.items():
                    res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None)
                    if res_id == device_id:
                        self.resource_tracker.remove_resource(res)
            except Exception as ex:
                self.lab_logger().warning(f"[Workstation-DeviceMgr] Resource tracker cleanup: {ex}")
            # Remove action clients for this sub-device
            action_prefix = f"/devices/{device_id}/"
            to_remove = [k for k in self._action_clients if k.startswith(action_prefix)]
            for k in to_remove:
                try:
                    self._action_clients[k].destroy()
                except Exception:
                    pass
                del self._action_clients[k]
            # Destroy the ROS2 node
            instance = self.sub_devices.pop(device_id, None)
            if instance is not None:
                ros_node = getattr(instance, "ros_node_instance", None)
                if ros_node is not None:
                    try:
                        ros_node.destroy_node()
                    except Exception as e:
                        self.lab_logger().warning(
                            f"[Workstation-DeviceMgr] Error destroying ROS node for {device_id}: {e}"
                        )
            # Remove from communication map if present
            self.communication_node_id_to_instance.pop(device_id, None)
            self.lab_logger().info(f"[Workstation-DeviceMgr] Sub-device {device_id} destroyed")
            return {"success": True, "device_id": device_id}
        except Exception as e:
            self.lab_logger().error(f"[Workstation-DeviceMgr] Failed to destroy {device_id}: {e}")
            self.lab_logger().error(traceback.format_exc())
            return {"success": False, "error": str(e)}
    def create_ros_action_server(self, action_name, action_value_mapping):
        """创建ROS动作服务器"""
        if action_name not in self.protocol_names:
--- a/unilabos/test/experiments/xkc_sensor_test.json
+++ b/unilabos/test/experiments/xkc_sensor_test.json
@@ -1,29 +0,0 @@
 {
    "nodes": [
        {
            "id": "Liquid_Sensor_1",
            "name": "XKC Sensor",
            "children": [],
            "parent": null,
            "type": "device",
            "class": "sensor.xkc_rs485",
            "position": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "config": {
                "port": "/dev/tty.usbserial-3110",
                "baudrate": 9600,
                "device_id": 1,
                "threshold": 300,
                "timeout": 3.0
            },
            "data": {
                "level": false,
                "rssi": 0
            }
        }
    ],
    "links": []
 }
--- a/unilabos/test/experiments/zdt_motor_test.json
+++ b/unilabos/test/experiments/zdt_motor_test.json
@@ -1,28 +0,0 @@
 {
    "nodes": [
        {
            "id": "ZDT_Motor",
            "name": "ZDT Motor",
            "children": [],
            "parent": null,
            "type": "device",
            "class": "motor.zdt_x42",
            "position": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "config": {
                "port": "/dev/tty.usbserial-3110",
                "baudrate": 115200,
                "device_id": 1,
                "debug": true
            },
            "data": {
                "position": 0,
                "status": "idle"
            }
        }
    ],
    "links": []
 }
--- a/unilabos/utils/decorator.py
+++ b/unilabos/utils/decorator.py
@@ -19,74 +19,6 @@ def singleton(cls):
    return get_instance
 def topic_config(
    period: Optional[float] = None,
    print_publish: Optional[bool] = None,
    qos: Optional[int] = None,
 ) -> Callable[[F], F]:
    """
    Topic发布配置装饰器
    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
    Args:
        period: 发布周期（秒）。None 表示使用默认值 5.0
        print_publish: 是否打印发布日志。None 表示使用节点默认配置
        qos: QoS深度配置。None 表示使用默认值 10
    Example:
        class MyDriver:
            # 方式1: 装饰 get_{attr_name} 方法
            @topic_config(period=1.0, print_publish=False, qos=5)
            def get_temperature(self):
                return self._temperature
            # 方式2: 与 @property 连用（topic_config 放在下面）
            @property
            @topic_config(period=0.1)
            def position(self):
                return self._position
    Note:
        与 @property 连用时，@topic_config 必须放在 @property 下面，
        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
    """
    def decorator(func: F) -> F:
        @wraps(func)
        def wrapper(*args, **kwargs):
            return func(*args, **kwargs)
        # 在函数上附加配置属性 (type: ignore 用于动态属性)
        wrapper._topic_period = period  # type: ignore[attr-defined]
        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
        wrapper._topic_qos = qos  # type: ignore[attr-defined]
        wrapper._has_topic_config = True  # type: ignore[attr-defined]
        return wrapper  # type: ignore[return-value]
    return decorator
 def get_topic_config(func) -> dict:
    """
    获取函数上的topic配置
    Args:
        func: 被装饰的函数
    Returns:
        包含 period, print_publish, qos 的配置字典
    """
    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
        return {
            "period": getattr(func, "_topic_period", None),
            "print_publish": getattr(func, "_topic_print_publish", None),
            "qos": getattr(func, "_topic_qos", None),
        }
    return {}
 def subscribe(
    topic: str,
    msg_type: Optional[type] = None,
@@ -104,24 +36,6 @@ def subscribe(
            - {namespace}: 完整命名空间 (如 "/devices/pump_1")
        msg_type: ROS 消息类型。如果为 None，需要在回调函数的类型注解中指定
        qos: QoS 深度配置，默认为 10
    Example:
        from std_msgs.msg import String, Float64
        class MyDriver:
            @subscribe(topic="/devices/{device_id}/set_speed", msg_type=Float64)
            def on_speed_update(self, msg: Float64):
                self._speed = msg.data
                print(f"Speed updated to: {self._speed}")
            @subscribe(topic="{namespace}/command")
            def on_command(self, msg: String):
                # msg_type 可从类型注解推断
                self.execute_command(msg.data)
    Note:
        - 回调方法的第一个参数是 self，第二个参数是收到的 ROS 消息
        - topic 中的占位符会在创建订阅时被实际值替换
    """
    def decorator(func: F) -> F:
@@ -129,7 +43,6 @@ def subscribe(
        def wrapper(*args, **kwargs):
            return func(*args, **kwargs)
        # 在函数上附加订阅配置
        wrapper._subscribe_topic = topic  # type: ignore[attr-defined]
        wrapper._subscribe_msg_type = msg_type  # type: ignore[attr-defined]
        wrapper._subscribe_qos = qos  # type: ignore[attr-defined]
@@ -141,15 +54,7 @@ def subscribe(
 def get_subscribe_config(func) -> dict:
-    """
+    """获取函数上的订阅配置 (topic, msg_type, qos)"""
    获取函数上的订阅配置
    Args:
        func: 被装饰的函数
    Returns:
        包含 topic, msg_type, qos 的配置字典
    """
    if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False):
        return {
            "topic": getattr(func, "_subscribe_topic", None),
@@ -163,9 +68,6 @@ def get_all_subscriptions(instance) -> list:
    """
    扫描实例的所有方法，获取带有 @subscribe 装饰器的方法及其配置
    Args:
        instance: 要扫描的实例
    Returns:
        包含 (method_name, method, config) 元组的列表
    """
@@ -184,92 +86,14 @@ def get_all_subscriptions(instance) -> list:
    return subscriptions
-def always_free(func: F) -> F:
+# ---------------------------------------------------------------------------
-    """
+# 向后兼容重导出 -- 已迁移到 unilabos.registry.decorators
-    标记动作为永久闲置(不受busy队列限制)的装饰器
+# ---------------------------------------------------------------------------
-
+from unilabos.registry.decorators import (  # noqa: E402, F401
-    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
+    topic_config,
-    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
+    get_topic_config,
-
+    always_free,
-    Example:
+    is_always_free,
-        class MyDriver:
+    not_action,
-            @always_free
+    is_not_action,
-            def query_status(self, param: str):
+)
                # 这个动作可以随时执行，不需要排队
                return self._status
            def transfer(self, volume: float):
                # 这个动作会按正常排队逻辑执行
                pass
    Note:
        - 可以与其他装饰器组合使用，@always_free 应放在最外层
        - 仅影响 WebSocket 调度层的 busy/free 判断，不影响 ROS2 层
    """
    @wraps(func)
    def wrapper(*args, **kwargs):
        return func(*args, **kwargs)
    wrapper._is_always_free = True  # type: ignore[attr-defined]
    return wrapper  # type: ignore[return-value]
 def is_always_free(func) -> bool:
    """
    检查函数是否被标记为永久闲置
    Args:
        func: 被检查的函数
    Returns:
        如果函数被 @always_free 装饰则返回 True，否则返回 False
    """
    return getattr(func, "_is_always_free", False)
 def not_action(func: F) -> F:
    """
    标记方法为非动作的装饰器
    用于装饰 driver 类中的方法，使其在 complete_registry 时不被识别为动作。
    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
    Example:
        class MyDriver:
            @not_action
            def helper_method(self):
                # 这个方法不会被注册为动作
                pass
            def actual_action(self, param: str):
                # 这个方法会被注册为动作
                self.helper_method()
    Note:
        - 可以与其他装饰器组合使用，@not_action 应放在最外层
        - 仅影响 complete_registry 的动作识别，不影响方法的正常调用
    """
    @wraps(func)
    def wrapper(*args, **kwargs):
        return func(*args, **kwargs)
    # 在函数上附加标记
    wrapper._is_not_action = True  # type: ignore[attr-defined]
    return wrapper  # type: ignore[return-value]
 def is_not_action(func) -> bool:
    """
    检查函数是否被标记为非动作
    Args:
        func: 被检查的函数
    Returns:
        如果函数被 @not_action 装饰则返回 True，否则返回 False
    """
    return getattr(func, "_is_not_action", False)
--- a/unilabos/utils/environment_check.py
+++ b/unilabos/utils/environment_check.py
@@ -22,6 +22,7 @@ class EnvironmentChecker:
            # "pymodbus.framer.FramerType": "pymodbus==3.9.2",
            "websockets": "websockets",
            "msgcenterpy": "msgcenterpy",
            "orjson": "orjson",
            "opentrons_shared_data": "opentrons_shared_data",
            "typing_extensions": "typing_extensions",
            "crcmod": "crcmod-plus",
@@ -32,7 +33,7 @@ class EnvironmentChecker:
        # 包版本要求（包名: 最低版本）
        self.version_requirements = {
-            "msgcenterpy": "0.1.5",  # msgcenterpy 最低版本要求
+            "msgcenterpy": "0.1.7",  # msgcenterpy 最低版本要求
        }
        self.missing_packages = []
--- a/unilabos/utils/import_manager.py
+++ b/unilabos/utils/import_manager.py
@@ -29,7 +29,7 @@ from ast import Constant
 from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
 from unilabos.utils import logger
-from unilabos.utils.decorator import is_not_action, is_always_free
+from unilabos.registry.decorators import is_not_action, is_always_free
 class ImportManager:
@@ -481,10 +481,16 @@ class ImportManager:
        return False
    def _is_always_free_method(self, node: ast.FunctionDef) -> bool:
-        """检查是否是@always_free装饰的方法"""
+        """检查是否是@always_free装饰的方法，或 @action(always_free=True) 装饰的方法"""
        for decorator in node.decorator_list:
-            if isinstance(decorator, ast.Name) and decorator.id == "always_free":
+            # 检查 @action(always_free=True)
-                return True
+            if isinstance(decorator, ast.Call):
                func = decorator.func
                if isinstance(func, ast.Name) and func.id == "action":
                    for keyword in decorator.keywords:
                        if keyword.arg == "always_free":
                            if isinstance(keyword.value, Constant) and keyword.value.value is True:
                                return True
        return False
    def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
--- a/unilabos/utils/log.py
+++ b/unilabos/utils/log.py
@@ -217,7 +217,6 @@ def configure_logger(loglevel=None, working_dir=None):
    return log_filepath
 # 配置日志系统
 configure_logger()
--- a/unilabos/utils/requirements.txt
+++ b/unilabos/utils/requirements.txt
@@ -1,7 +1,8 @@
 networkx
 typing_extensions
 websockets
-msgcenterpy>=0.1.5
+msgcenterpy>=0.1.7
 orjson>=3.11
 opentrons_shared_data
 pint
 fastapi
Author	SHA1	Message	Date
Xuwznln	0f6264503a	new registry sys exp. support with add device	2026-03-21 19:26:24 +08:00
Junhan Chang	2c554182d3	add ai conventions	2026-03-19 14:14:40 +08:00
Xuwznln	6d319d91ff	correct raise create resource error	2026-03-10 16:26:37 +08:00
Xuwznln	3155b2f97e	ret info fix revert	2026-03-10 16:04:27 +08:00
Xuwznln	e5e30a1c7d	ret info fix	2026-03-10 16:00:24 +08:00
Xuwznln	4e82f62327	fix prcxi check	2026-03-10 15:57:27 +08:00
Xuwznln	95d3456214	add create_resource schema	2026-03-10 15:27:39 +08:00
Xuwznln	38bf95b13c	re signal host ready event	2026-03-10 14:13:06 +08:00