Merge pull request #215 from deepmodeling/workstation_YB_merge_dev_ready_260113

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

.conda/base/recipe.yaml

@@ -1,62 +0,0 @@
-# unilabos: Production package (depends on unilabos-env + pip unilabos)
-# For production deployment
-
-package:
-  name: unilabos
-  version: 0.10.18
-
-source:
-  path: ../../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-    - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
-    - pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
-    - pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.14
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - zstd
-  - zstandard
-  - networkx
-  - typing_extensions
-  - websockets
-  - pint
-  - fastapi
-  - jinja2
-  - requests
-  - uvicorn
-  - if: not osx
-    then:
-    - opcua
-  - pyserial
-  - pandas
-  - pymodbus
-  - matplotlib
-  - pylibftdi
-  - uni-lab::unilabos-env ==0.10.18
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS - Production package with minimal ROS2 dependencies"

.conda/environment/recipe.yaml

@@ -1,39 +0,0 @@
-# unilabos-env: conda environment dependencies (ROS2 + conda packages)
-
-package:
-  name: unilabos-env
-  version: 0.10.18
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Python
-  - zstd
-  - zstandard
-  - conda-forge::python ==3.11.14
-  - conda-forge::opencv
-  # ROS2 dependencies (from ci-check.yml)
-  - robostack-staging::ros-humble-ros-core
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-nav2-msgs
-  - robostack-staging::ros-humble-cv-bridge
-  - robostack-staging::ros-humble-vision-opencv
-  - robostack-staging::ros-humble-tf-transformations
-  - robostack-staging::ros-humble-moveit-msgs
-  - robostack-staging::ros-humble-tf2-ros
-  - robostack-staging::ros-humble-tf2-ros-py
-  - conda-forge::transforms3d
-  - conda-forge::uv
-
-  # UniLabOS custom messages
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

@@ -1,42 +0,0 @@
-# unilabos-full: Full package with all features
-# Depends on unilabos + complete ROS2 desktop + dev tools
-
-package:
-  name: unilabos-full
-  version: 0.10.18
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.18
-  # Documentation tools
-  - sphinx
-  - sphinx_rtd_theme
-  # Web UI
-  - gradio
-  - flask
-  # Interactive development
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  # ROS2 full desktop (includes rviz2, gazebo, etc.)
-  - robostack-staging::ros-humble-desktop-full
-  # Navigation and motion control
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  # MoveIt motion planning
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  # Simulation
-  - ros-humble-simulation
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"

.conda/recipe.yaml

@@ -0,0 +1,91 @@
+package:
+  name: unilabos
+  version: 0.10.15
+
+source:
+  path: ../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+    - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
+    - call %PYTHON% -m pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../setup.py $SRC_DIR
+    - $PYTHON -m pip install $SRC_DIR
+
+requirements:
+  host:
+  - python ==3.11.11
+  - pip
+  - setuptools
+  - zstd
+  - zstandard
+  run:
+  - conda-forge::python ==3.11.11
+  - compilers
+  - cmake
+  - zstd
+  - zstandard
+  - ninja
+  - if: unix
+    then:
+    - make
+  - sphinx
+  - sphinx_rtd_theme
+  - numpy
+  - scipy
+  - pandas
+  - networkx
+  - matplotlib
+  - pint
+  - pyserial
+  - pyusb
+  - pylibftdi
+  - pymodbus
+  - python-can
+  - pyvisa
+  - opencv
+  - pydantic
+  - fastapi
+  - uvicorn
+  - gradio
+  - flask
+  - websockets
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  - robostack-staging::ros-humble-desktop-full
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-sensor-msgs
+  - robostack-staging::ros-humble-trajectory-msgs
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
+  - ros-humble-tf2
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
+  - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

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

.conda/scripts/post-link.sh

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

.cursor/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

.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

.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
-```

.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

.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

.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
-```

.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 |

.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` |

.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` |

.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` |

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

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

.cursor/skills/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`

.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)
-```

.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` |

.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` |

.cursorignore

@@ -1,188 +1,26 @@
-# ============================================================
-# 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/
+.conda
+# .github
+.idea
+# .vscode
+output
+pylabrobot_repo
+recipes
+scripts
+service
+temp
+# unilabos/test
+# unilabos/app/web
+unilabos/device_mesh
+unilabos_data
+unilabos_msgs
+unilabos.egg-info
+CONTRIBUTORS
+# LICENSE
+MANIFEST.in
 pyrightconfig.json
-
-# ==================== 其他 ====================
-# Catkin
-CATKIN_IGNORE
-
-# Eclipse/Qt
-.project
-.cproject
-CMakeLists.txt.user
-*.user
-qtcreator-*
+# README.md
+# README_zh.md
+setup.py
+setup.cfg
+.gitattrubutes
+**/__pycache__

.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()`

.github/dependabot.yml

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

.github/workflows/ci-check.yml

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

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

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

.github/workflows/deploy-docs.yml

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

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

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

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

@@ -1,62 +1,25 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 CI Check 成功后自动触发
-  workflow_run:
-    workflows: ["CI Check"]
-    types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
   push:
+    branches: [main, dev]
     tags: ['v*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'linux-64'
-      build_full:
-        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
-        required: false
-        default: false
-        type: boolean
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
         default: false
         type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
   build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -77,10 +40,8 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -104,6 +65,7 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: strict
           activate-environment: build-env
+          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -119,61 +81,12 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
+          echo "Building UniLabOS package"
 
-      - name: Build unilabos-env (conda environment only, noarch)
+      - name: Build conda package
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          echo "Building unilabos-env (conda environment dependencies)..."
-          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: Upload unilabos-env to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos-env to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-env*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos (with pip package)
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Building unilabos package..."
-          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
-          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
-
-      - name: Upload unilabos to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
-
-      - name: Build unilabos-full - Only when explicitly requested
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event.inputs.build_full == 'true'
-        run: |
-          echo "Building unilabos-full package on ${{ matrix.platform }}..."
-          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
-
-      - name: Upload unilabos-full to Anaconda.org (if enabled)
-        if: |
-          steps.should_build.outputs.should_build == 'true' && 
-          github.event.inputs.build_full == 'true' &&
-          github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          echo "Uploading unilabos-full to uni-lab organization..."
-          for package in $(find ./output -name "unilabos-full*.conda"); do
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
+          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -195,9 +108,17 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v4
         with:
           name: conda-package-unilabos-${{ matrix.platform }}
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
+
+      - name: Upload to Anaconda.org (uni-lab organization)
+        if: github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          for package in $(find ./output -name "*.conda"); do
+            echo "Uploading $package to uni-lab organization..."
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done

.gitignore

@@ -4,7 +4,6 @@ temp/
 output/
 unilabos_data/
 pyrightconfig.json
-.cursorignore
 ## Python
 
 # Byte-compiled / optimized / DLL files

AGENTS.md

@@ -1,21 +0,0 @@
-# Uni-Lab-OS AI Agent 指南
-
-## 设备接入
-
-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。
-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
-
-- 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()`
-
-## 项目结构
-
-- 设备驱动：`unilabos/devices/<category>/<device_name>.py`
-- 设备注册表：`unilabos/registry/devices/<device_name>.yaml`
-- 实验图文件：`unilabos/test/experiments/*.json`
-- 人类开发文档：`docs/developer_guide/`
-- AI 专用指南：`docs/ai_guides/`

CLAUDE.md

@@ -1,14 +0,0 @@
-# Uni-Lab-OS
-
-## 设备接入
-
-读取 `docs/ai_guides/add_device.md` 获取完整的自包含指南。
-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()`

MANIFEST.in

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

README.md

@@ -31,46 +31,26 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
-### 1. Setup Conda Environment
+1. Setup Conda Environment
 
-Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
-
-| Package | Use Case | Contents |
-|---------|----------|----------|
-| `unilabos` | **Recommended for most users** | Complete package, ready to use |
-| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
-| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
+Uni-Lab-OS recommends using `mamba` for environment management:
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
-# Option A: Standard installation (recommended for most users)
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# Option B: For developers (editable mode development)
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# Then install unilabos and dependencies:
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Option C: Full installation (simulation/visualization)
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-**When to use which?**
-- **unilabos**: Standard installation for production deployment and general usage (recommended)
-- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
-- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
-
-### 2. Clone Repository (Optional, for developers)
+2. Install Dev Uni-Lab-OS
 
 ```bash
-# Clone the repository (only needed for development or examples)
+# Clone the repository
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# Install Uni-Lab-OS
+pip install .
 ```
 
 3. Start Uni-Lab System

README_zh.md

@@ -31,46 +31,26 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 ## 快速开始
 
-### 1. 配置 Conda 环境
+1. 配置 Conda 环境
 
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
-
-| 安装包 | 适用场景 | 包含内容 |
-|--------|----------|----------|
-| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
-| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
-# 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# 然后安装 unilabos 和依赖：
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# 方案 C：完整安装（仿真/可视化）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-**如何选择？**
-- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
-- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
-- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
-
-### 2. 克隆仓库（可选，供开发者使用）
+2. 安装开发版 Uni-Lab-OS:
 
 ```bash
-# 克隆仓库（仅开发或查看示例时需要）
+# 克隆仓库
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install .
 ```
 
 3. 启动 Uni-Lab 系统

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

docs/user_guide/best_practice.md

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

docs/user_guide/installation.md

@@ -13,26 +13,15 @@
   - 开发者需要 Git 和基本的 Python 开发知识
   - 自定义 msgs 需要 GitHub 账号
 
-## 安装包选择
-
-Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
-
-| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
-|--------|----------|----------|----------|
-| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
-| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
-| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
-
 ## 安装方式选择
 
 根据您的使用场景，选择合适的安装方式：
 
-| 安装方式               | 适用人群             | 推荐安装包        | 特点                           | 安装时间                     |
-| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
-| **方式一：一键安装**   | 快速体验、演示       | 预打包环境        | 离线可用，无需配置             | 5-10 分钟 (网络良好的情况下) |
-| **方式二：手动安装**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
-| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 分钟                   |
-| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
+| 安装方式               | 适用人群             | 特点                           | 安装时间                     |
+| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
+| **方式一：一键安装**   | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
+| **方式二：手动安装**   | 标准用户、生产环境   | 灵活配置，版本可控             | 10-20 分钟                   |
+| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs    | 20-30 分钟                   |
 
 ---
 
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：
 
 ```bash
-mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
+mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
 mamba activate unilab
-
-# 选择安装包（三选一）：
-
-# 方案 A：标准安装（推荐大多数用户）
-mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-
-# 方案 B：开发者环境（可编辑模式开发）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-# 然后安装 unilabos 和 pip 依赖：
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# 方案 C：完整版（含仿真和可视化工具）
-mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 **参数说明**:
 
 - `-n unilab`: 创建名为 "unilab" 的环境
-- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
-- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
-- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
+- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
 - `-c robostack-staging -c conda-forge`: 添加额外的软件源
 
-**包选择建议**：
-- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
-- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
-- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
-
 **如果遇到网络问题**，可以使用清华镜像源加速下载：
 
 ```bash
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
 
-# 然后重新执行安装命令（推荐标准安装）
+# 然后重新执行安装命令
 mamba create -n unilab uni-lab::unilabos -c robostack-staging
-
-# 或完整版（仿真/可视化）
-mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
-
-# pip 安装时使用清华镜像（开发者安装时使用）
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
 ### 第三步：激活环境
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
    cd Uni-Lab-OS
    ```
 
-### 第二步：安装开发环境（unilabos-env）
+### 第二步：安装基础环境
 
-**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
-- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
-- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
-- 包含 `uv` 工具，用于快速安装 pip 依赖
-- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
+**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
+
+#### 选项 A：通过一键安装（推荐）
+
+参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
 
 ```bash
-# 创建并激活环境
-mamba create -n unilab python=3.11.14
 conda activate unilab
-
-# 安装开发者环境包（ROS2 + conda 依赖 + uv）
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
 ```
 
-### 第三步：安装 pip 依赖和可编辑模式安装
+#### 选项 B：通过手动安装
 
-克隆代码并安装依赖：
+参考上文"方式二：手动安装"，创建并安装环境：
+
+```bash
+mamba create -n unilab python=3.11.11
+conda activate unilab
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+```
+
+**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
+
+### 第三步：切换到开发版本
+
+现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
 
 ```bash
 # 确保环境已激活
 conda activate unilab
 
-# 克隆仓库（如果还未克隆）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
-cd Uni-Lab-OS
+# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
+pip uninstall unilabos -y
 
-# 切换到 dev 分支（可选）
+# 克隆 dev 分支（如果还未克隆）
+cd /path/to/your/workspace
+git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
+# 或者如果已经克隆，切换到 dev 分支
+cd Uni-Lab-OS
 git checkout dev
 git pull
-```
 
-**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
-
-```bash
-# 自动检测中文环境，如果是中文系统则使用清华镜像
-python scripts/dev_install.py
-
-# 或者手动指定：
-python scripts/dev_install.py --china     # 强制使用清华镜像
-python scripts/dev_install.py --no-mirror # 强制使用 PyPI
-python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
-python scripts/dev_install.py --use-pip   # 使用 pip 而非 uv
-```
-
-**手动安装**（如果脚本安装失败或速度太慢）：
-
-```bash
-# 1. 安装 unilabos（可编辑模式）
-pip install -e .
-
-# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
-uv pip install -r unilabos/utils/requirements.txt
-
-# 国内用户使用清华镜像：
+# 以可编辑模式安装开发版 unilabos
 pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
-**注意**：
-- `uv` 已包含在 `unilabos-env` 中，无需单独安装
-- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
-- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
+**参数说明**：
 
-**为什么使用可编辑模式？**
-
-- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
-- 适合开发调试：修改代码后直接运行测试
-- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
-
-**验证安装**：
-
-```bash
-# 检查 unilabos 版本
-python -c "import unilabos; print(unilabos.__version__)"
-
-# 检查安装位置（应该指向你的代码目录）
-pip show unilabos | grep Location
-```
+- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
+- `-i`: 使用清华镜像源加速下载
+- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
 
 ### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
 
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
 
 ### 问题 8: 环境很大，有办法减小吗？
 
-**解决方案**: 
-
-1. **使用 `unilabos` 标准版**（推荐大多数用户）：
-   ```bash
-   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
-   ```
-   标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
-
-2. **使用 `unilabos-env` 开发者版**（最小化）：
-   ```bash
-   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-   # 然后手动安装依赖
-   pip install -e .
-   uv pip install -r unilabos/utils/requirements.txt
-   ```
-   开发者版只包含环境依赖，体积最小约 2GB。
-
-3. **按需安装额外组件**：
-   如果后续需要特定功能，可以单独安装：
-   ```bash
-   # 需要 Jupyter
-   mamba install jupyter jupyros
-   
-   # 需要可视化
-   mamba install matplotlib opencv
-   
-   # 需要仿真（注意：这会安装大量依赖）
-   mamba install ros-humble-gazebo-ros
-   ```
-
-4. **预打包环境问题**：
-   预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
-
-**包选择建议**：
-| 需求 | 推荐包 | 预估大小 |
-|------|--------|----------|
-| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
-| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
-| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
+**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
 
 ### 问题 9: 如何更新到最新版本？
 
@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 
 **提示**:
 
-- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
-- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
-- **仿真/可视化**推荐安装 `unilabos-full` 完整版
-- **快速体验和演示**推荐使用方式一（一键安装）
+- 生产环境推荐使用方式二（手动安装）的稳定版本
+- 开发和测试推荐使用方式三（开发者安装）
+- 快速体验和演示推荐使用方式一（一键安装）

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.18
+  version: 0.10.15
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -25,7 +25,7 @@ requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.14
+  - python ==3.11.11
   - numpy
   - if: build_platform != target_platform
     then:
@@ -63,14 +63,14 @@ requirements:
   - robostack-staging::ros-humble-rosidl-default-generators
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
   run:
   - robostack-staging::ros-humble-action-msgs
   - robostack-staging::ros-humble-ros-workspace
   - robostack-staging::ros-humble-rosidl-default-runtime
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.7
+  - robostack-staging::ros2-distro-mutex=0.6
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.18"
+  version: "0.10.15"
 
 source:
   path: ../..

scripts/create_readme.py

@@ -85,7 +85,7 @@ Verification:
 -------------
 
 The verify_installation.py script will check:
-  - Python version (3.11.14)
+  - Python version (3.11.11)
   - ROS2 rclpy installation
   - UniLabOS installation and dependencies
 
@@ -104,7 +104,7 @@ Build Information:
 
   Branch:   {branch}
   Platform: {platform}
-  Python:   3.11.14
+  Python:   3.11.11
   Date:     {build_date}
 
 Troubleshooting:

scripts/dev_install.py

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

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.18',
+    version='0.10.15',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/workflow/test.json

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

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.18"
+__version__ = "0.10.15"

unilabos/__main__.py

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

unilabos/app/main.py

@@ -1,13 +1,13 @@
 import argparse
 import asyncio
 import os
-import platform
 import shutil
 import signal
 import sys
 import threading
 import time
 from typing import Dict, Any, List
+
 import networkx as nx
 import yaml
 
@@ -17,9 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.app.utils import cleanup_for_restart
 
 # Global restart flags (used by ws_client and web/server)
 _restart_requested: bool = False
@@ -161,23 +161,11 @@ def parse_args():
         default=False,
         help="Complete registry information",
     )
-    parser.add_argument(
-        "--check_mode",
-        action="store_true",
-        default=False,
-        help="Run in check mode for CI: validates registry imports and ensures no file changes",
-    )
     parser.add_argument(
         "--no_update_feedback",
         action="store_true",
         help="Disable sending update feedback to server",
     )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
         "workflow_upload",
@@ -211,12 +199,6 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
-    )
     return parser
 
 
@@ -229,10 +211,7 @@ def main():
     args_dict = vars(args)
 
     # 环境检查 - 检查并自动安装必需的包 (可选)
-    skip_env_check = args_dict.get("skip_env_check", False)
-    check_mode = args_dict.get("check_mode", False)
-
-    if not skip_env_check:
+    if not args_dict.get("skip_env_check", False):
         from unilabos.utils.environment_check import check_environment
 
         if not check_environment(auto_install=True):
@@ -243,75 +222,49 @@ def main():
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-
-    # === 解析 working_dir ===
-    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
-    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
-    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
-    raw_working_dir = args_dict.get("working_dir")
-    if raw_working_dir:
-        working_dir = os.path.abspath(raw_working_dir)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(os.path.abspath(config_path))
-    else:
+    if os.getcwd().endswith("unilabos_data"):
         working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
 
-    # unilabos_data 子目录自动检测
-    if os.path.basename(working_dir) != "unilabos_data":
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
-        if os.path.isdir(unilabos_data_sub):
-            working_dir = unilabos_data_sub
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
-            # 未显式指定路径，默认使用 cwd/unilabos_data
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
-    # === 解析 config_path ===
-    if config_path and not os.path.exists(config_path):
-        # config_path 传入但不存在，尝试在 working_dir 中查找
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
-        else:
-            print_status(
-                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
-                f"请通过 --config 传入 local_config.py 文件路径",
-                "error",
-            )
-            os._exit(1)
-    elif not config_path:
-        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"发现本地配置文件: {config_path}", "info")
-        else:
-            print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-            if check_mode or input() != "n":
-                os.makedirs(working_dir, exist_ok=True)
-                config_path = os.path.join(working_dir, "local_config.py")
-                shutil.copy(
-                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
-                    config_path,
+    if args_dict.get("working_dir"):
+        working_dir = args_dict.get("working_dir", "")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
                 )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                 os._exit(1)
-
-    # 加载配置文件 (check_mode 跳过)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if input() != "n":
+            os.makedirs(working_dir, exist_ok=True)
+            config_path = os.path.join(working_dir, "local_config.py")
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
+            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        else:
+            os._exit(1)
+    # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
-    if not check_mode:
-        load_config_from_file(config_path)
+    load_config_from_file(config_path)
 
     # 根据配置重新设置日志级别
     from unilabos.utils.log import configure_logger, logger
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -355,15 +308,11 @@ def main():
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
     BasicConfig.communication_protocol = "websocket"
-    machine_name = platform.node()
+    machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]
-    BasicConfig.check_mode = check_mode
 
     from unilabos.resources.graphio import (
         read_node_link_json,
@@ -382,14 +331,10 @@ 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
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
-    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
-
-    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
-    if check_mode:
-        print_status("Check mode: complete_registry 完成，退出", "info")
-        os._exit(0)
+    # 注册表
+    lab_registry = build_registry(
+        args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
+    )
 
     if BasicConfig.upload_registry:
         # 设备注册到服务端 - 需要 ak 和 sk

unilabos/app/model.py

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

unilabos/app/register.py

@@ -38,9 +38,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
             response = http_client.resource_registry({"resources": list(devices_to_register.values())})
             cost_time = time.time() - start_time
             if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
@@ -51,9 +51,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
             response = http_client.resource_registry({"resources": list(resources_to_register.values())})
             cost_time = time.time() - start_time
             if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
 

unilabos/app/utils.py

@@ -4,40 +4,8 @@ UniLabOS 应用工具函数
 提供清理、重启等工具函数
 """
 
-import glob
-import os
-import shutil
-import sys
-
-
-def patch_rclpy_dll_windows():
-    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
-    if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
-        return
-    try:
-        import rclpy
-
-        return
-    except ImportError as e:
-        if not str(e).startswith("DLL load failed"):
-            return
-    cp = os.environ["CONDA_PREFIX"]
-    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
-    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
-    if not os.path.exists(impl) or not pyd:
-        return
-    with open(impl, "r", encoding="utf-8") as f:
-        content = f.read()
-    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
-    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
-    shutil.copy2(impl, impl + ".bak")
-    with open(impl, "w", encoding="utf-8") as f:
-        f.write(patch + content)
-
-
-patch_rclpy_dll_windows()
-
 import gc
+import os
 import threading
 import time
 

unilabos/app/web/client.py

@@ -3,7 +3,7 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-import gzip
+
 import json
 import os
 from typing import List, Dict, Any, Optional
@@ -290,17 +290,10 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        compressed_body = gzip.compress(
-            json.dumps(registry_data, ensure_ascii=False, default=str).encode("utf-8")
-        )
         response = requests.post(
             f"{self.remote_addr}/lab/resource",
-            data=compressed_body,
-            headers={
-                "Authorization": f"Lab {self.auth}",
-                "Content-Type": "application/json",
-                "Content-Encoding": "gzip",
-            },
+            json=registry_data,
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=30,
         )
         if response.status_code not in [200, 201]:
@@ -350,10 +343,9 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
-        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
+        导入工作流到服务器
 
         Args:
             name: 工作流名称（顶层）
@@ -363,12 +355,13 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
-            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
         """
+        # target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
         payload = {
+            "target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
             "name": name,
             "data": {
                 "workflow_uuid": workflow_uuid,
@@ -376,6 +369,7 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
+                "published": published,
             },
         }
         # 保存请求到文件
@@ -396,51 +390,11 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
-                return res
-            # 导入成功后，如果需要发布则额外发起发布请求
-            if published:
-                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
-                publish_res = self.workflow_publish(imported_uuid, description)
-                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
-    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
-        """
-        发布工作流
-
-        Args:
-            workflow_uuid: 工作流UUID
-            description: 工作流描述
-
-        Returns:
-            Dict: API响应数据
-        """
-        payload = {
-            "uuid": workflow_uuid,
-            "description": description,
-            "published": True,
-        }
-        logger.info(f"正在发布工作流: {workflow_uuid}")
-        response = requests.patch(
-            f"{self.remote_addr}/lab/workflow/owner",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"发布工作流失败: {response.text}")
-            else:
-                logger.info(f"工作流发布成功: {workflow_uuid}")
-            return res
-        else:
-            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/controller.py

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

unilabos/app/ws_client.py

@@ -23,7 +23,7 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from typing_extensions import TypedDict
+from jedi.inference.gradual.typing import TypedDict
 
 from unilabos.app.model import JobAddReq
 from unilabos.ros.nodes.presets.host_node import HostNode
@@ -76,7 +76,6 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
-    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -128,15 +127,6 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
-            # always_free的动作不受排队限制，直接设为READY
-            if job_info.always_free:
-                job_info.status = JobStatus.READY
-                job_info.update_timestamp()
-                job_info.set_ready_timeout(10)
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
-                return True
-
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -164,7 +154,7 @@ class DeviceActionManager:
             job_info.set_ready_timeout(10)  # 设置10秒超时
             self.active_jobs[device_key] = job_info
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -186,15 +176,11 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # always_free的job不需要检查active_jobs
-            if not job_info.always_free:
-                # 检查设备上是否是这个job
-                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                    job_log = format_job_log(
-                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
-                    )
-                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    return False
+            # 检查设备上是否是这个job
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -217,13 +203,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理，不影响队列
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                job_info.update_timestamp()
-                del self.all_jobs[job_id]
-                return None
-
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -231,9 +210,8 @@ class DeviceActionManager:
                 job_info.update_timestamp()
                 # 从all_jobs中移除已结束的job
                 del self.all_jobs[job_id]
-                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
-                pass
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
             else:
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                 logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -249,20 +227,15 @@ class DeviceActionManager:
                 next_job_log = format_job_log(
                     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                 )
-                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
         with self.lock:
-            jobs = list(self.active_jobs.values())
-            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
-                    jobs.append(job)
-            return jobs
+            return list(self.active_jobs.values())
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -287,14 +260,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
-                return True
-
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -303,7 +268,7 @@ class DeviceActionManager:
                 # 从all_jobs中移除
                 del self.all_jobs[job_id]
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
 
                 # 启动下一个任务
                 if device_key in self.device_queues and self.device_queues[device_key]:
@@ -316,7 +281,7 @@ class DeviceActionManager:
                     next_job_log = format_job_log(
                         next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -330,7 +295,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                     return True
 
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -368,18 +333,13 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
-            ready_candidates = list(self.active_jobs.values())
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
-                    ready_candidates.append(job)
-
-            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
+            # 统计READY状态的任务数量
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in ready_candidates:
+            for job_info in self.active_jobs.values():
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -466,7 +426,6 @@ class MessageProcessor:
                 async with websockets.connect(
                     self.websocket_url,
                     ssl=ssl_context,
-                    open_timeout=20,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
                     additional_headers={
@@ -498,18 +457,6 @@ class MessageProcessor:
             except websockets.exceptions.ConnectionClosed:
                 logger.warning("[MessageProcessor] Connection closed")
                 self.connected = False
-            except TimeoutError:
-                logger.warning(
-                    f"[MessageProcessor] Connection timeout (attempt {self.reconnect_count + 1}), "
-                    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"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())
@@ -518,19 +465,18 @@ class MessageProcessor:
                 self.websocket = None
 
             # 重连逻辑
-            if not self.is_running:
-                break
-            if self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
-                backoff = min(WSConfig.reconnect_interval * (2 ** (self.reconnect_count - 1)), 60)
                 logger.info(
-                    f"[MessageProcessor] Reconnecting in {backoff}s "
+                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
                     f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(backoff)
-            else:
+                await asyncio.sleep(WSConfig.reconnect_interval)
+            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
                 logger.error("[MessageProcessor] Max reconnection attempts reached")
                 break
+            else:
+                self.reconnect_count -= 1
 
     async def _message_handler(self):
         """处理接收到的消息"""
@@ -548,12 +494,8 @@ class MessageProcessor:
                         await self._process_message(message_type, message_data)
                     else:
                         if message_type.endswith("_material"):
-                            logger.trace(
-                                f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
-                            )
-                            logger.debug(
-                                f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
-                            )
+                            logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
+                            logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
                         else:
                             await self._process_message(message_type, message_data)
                 except json.JSONDecodeError:
@@ -598,7 +540,7 @@ class MessageProcessor:
                         try:
                             message_str = json.dumps(msg, ensure_ascii=False)
                             await self.websocket.send(message_str)
-                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                         except Exception as e:
                             logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                             logger.error(traceback.format_exc())
@@ -623,7 +565,7 @@ class MessageProcessor:
 
     async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -661,24 +603,6 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
-    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
-        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
-        try:
-            host_node = HostNode.get_instance(0)
-            if not host_node:
-                return False
-            # noinspection PyProtectedMember
-            action_mappings = host_node._action_value_mappings.get(device_id)
-            if not action_mappings:
-                return False
-            # 尝试直接匹配或 auto- 前缀匹配
-            for key in [action_name, f"auto-{action_name}"]:
-                if key in action_mappings:
-                    return action_mappings[key].get("always_free", False)
-            return False
-        except Exception:
-            return False
-
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -693,9 +617,6 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
-        # 检查action是否为always_free
-        action_always_free = self._check_action_always_free(device_id, action_name)
-
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -705,7 +626,6 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
-            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -717,13 +637,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", False, 10
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} queued")
+            logger.info(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -732,8 +652,6 @@ class MessageProcessor:
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理job_start消息"""
         try:
-            if not data.get("sample_material"):
-                data["sample_material"] = {}
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
@@ -765,7 +683,6 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
-                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -930,7 +847,9 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
+                    logger.info(
+                        f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -944,9 +863,7 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.trace(
-            f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
-        )
+        logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
 
         # 为每个(device_id, action)创建独立的更新线程
         for (device_id, actual_action), items in device_action_groups.items():
@@ -994,13 +911,13 @@ class MessageProcessor:
 
         # 发送确认消息
         if self.websocket_client:
-            await self.websocket_client.send_message(
-                {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-            )
+            await self.websocket_client.send_message({
+                "action": "restart_acknowledged",
+                "data": {"reason": reason, "delay": delay}
+            })
 
         # 设置全局重启标志
         import unilabos.app.main as main_module
-
         main_module._restart_requested = True
         main_module._restart_reason = reason
 
@@ -1010,12 +927,10 @@ class MessageProcessor:
         # 在新线程中执行清理，避免阻塞当前事件循环
         def do_cleanup():
             import time
-
             time.sleep(0.5)  # 给当前消息处理完成的时间
             logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
             try:
                 from unilabos.app.utils import cleanup_for_restart
-
                 if cleanup_for_restart():
                     logger.info("[MessageProcessor] Cleanup successful, main() will restart")
                 else:
@@ -1198,11 +1113,6 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
-            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
-            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
-            if job_info.status != JobStatus.QUEUE:
-                continue
-
             message = {
                 "action": "report_action_state",
                 "data": {
@@ -1218,7 +1128,7 @@ class QueueProcessor:
             success = self.message_processor.send_message(message)
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
             if success:
-                logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
             else:
                 logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
 
@@ -1241,7 +1151,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
 
         # 结束任务，获取下一个可执行的任务
         next_job = self.device_manager.end_job(job_id)
@@ -1261,8 +1171,8 @@ class QueueProcessor:
                 },
             }
             self.message_processor.send_message(message)
-            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
-            # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
+            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
 
             # 立即触发下一轮状态检查
             self.notify_queue_update()
@@ -1384,7 +1294,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1404,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
 
             # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
@@ -1471,9 +1381,7 @@ class WebSocketClient(BaseCommunicationClient):
             if host_node:
                 # 获取设备信息
                 for device_id, namespace in host_node.devices_names.items():
-                    device_key = (
-                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
-                    )
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
                     is_online = device_key in host_node._online_devices
 
                     # 获取设备的动作信息
@@ -1487,16 +1395,14 @@ class WebSocketClient(BaseCommunicationClient):
                                 "action_type": str(type(client).__name__),
                             }
 
-                    devices.append(
-                        {
-                            "device_id": device_id,
-                            "namespace": namespace,
-                            "device_key": device_key,
-                            "is_online": is_online,
-                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
-                            "actions": actions,
-                        }
-                    )
+                    devices.append({
+                        "device_id": device_id,
+                        "namespace": namespace,
+                        "device_key": device_key,
+                        "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
+                    })
 
                 logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
         except Exception as e:

unilabos/compile/pump_protocol.py

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

unilabos/config/config.py

@@ -22,8 +22,6 @@ class BasicConfig:
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
-    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -146,5 +144,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
         load_config(config_path)

unilabos/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()

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -19,11 +19,10 @@ from rclpy.node import Node
 import re
 
 class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
-    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

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)

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")

unilabos/devices/virtual/virtual_transferpump.py

@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
 
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
-
+    
     _ros_node: BaseROS2DeviceNode
-
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
-
+        
         Args:
             device_id: 设备ID
             config: 配置字典，包含max_volume, port等参数
             **kwargs: 其他参数，确保兼容性
         """
         self.device_id = device_id or "virtual_transfer_pump"
-
+        
         # 从config或kwargs中获取参数，确保类型正确
         if config:
-            self.max_volume = float(config.get("max_volume", 25.0))
-            self.port = config.get("port", "VIRTUAL")
+            self.max_volume = float(config.get('max_volume', 25.0))
+            self.port = config.get('port', 'VIRTUAL')
         else:
-            self.max_volume = float(kwargs.get("max_volume", 25.0))
-            self.port = kwargs.get("port", "VIRTUAL")
-
-        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
-        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
-
+            self.max_volume = float(kwargs.get('max_volume', 25.0))
+            self.port = kwargs.get('port', 'VIRTUAL')
+        
+        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
+        self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
+        
         # 状态变量 - 确保都是正确类型
         self._status = "Idle"
         self._position = 0.0  # float
-        self._max_velocity = 5.0  # float
+        self._max_velocity = 5.0  # float 
         self._current_volume = 0.0  # float
 
         # 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,16 +52,14 @@ class VirtualTransferPump:
         self._fast_dispense_time = 1.0  # 快速喷射时间（秒）
 
         self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-
+        
         print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
-        print(
-            f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
-        )
+        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
-
+    
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
-
+    
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -70,33 +68,33 @@ class VirtualTransferPump:
         self._current_volume = 0.0
         self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
         return True
-
+    
     async def cleanup(self) -> bool:
         """清理虚拟泵 🧹"""
         self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
         self._status = "Idle"
         self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
         return True
-
+    
     # 基本属性
     @property
     def status(self) -> str:
         return self._status
-
+    
     @property
     def position(self) -> float:
         """当前柱塞位置 (ml) 📍"""
         return self._position
-
+    
     @property
     def current_volume(self) -> float:
         """当前注射器中的体积 (ml) 💧"""
         return self._current_volume
-
+    
     @property
     def max_velocity(self) -> float:
         return self._max_velocity
-
+    
     @property
     def transfer_rate(self) -> float:
         return self._transfer_rate
@@ -105,17 +103,17 @@ class VirtualTransferPump:
         """设置最大速度 (ml/s) 🌊"""
         self._max_velocity = max(0.1, min(50.0, velocity))  # 限制在合理范围内
         self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
-
+    
     def get_status(self) -> str:
         """获取泵状态 📋"""
         return self._status
-
+    
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
         await self._ros_node.sleep(duration)
         self._status = "Idle"
-
+    
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算操作持续时间 ⏰
@@ -123,10 +121,10 @@ class VirtualTransferPump:
         """
         if velocity is None:
             velocity = self._max_velocity
-
+        
         # 📊 计算理论时间（用于日志显示）
         theoretical_duration = abs(volume) / velocity
-
+        
         # 🚀 如果启用快速模式，使用固定的快速时间
         if self._fast_mode:
             # 根据操作类型选择快速时间
@@ -134,13 +132,13 @@ class VirtualTransferPump:
                 actual_duration = self._fast_move_time
             else:  # 很小的操作
                 actual_duration = 0.5
-
+            
             self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
             return actual_duration
         else:
             # 正常模式使用理论时间
             return theoretical_duration
-
+    
     def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算显示用的持续时间（用于日志） 📊
@@ -149,16 +147,16 @@ class VirtualTransferPump:
         if velocity is None:
             velocity = self._max_velocity
         return abs(volume) / velocity
-
+    
     # 新的set_position方法 - 专门用于SetPumpPosition动作
     async def set_position(self, position: float, max_velocity: float = None):
         """
         移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
-
+        
         Args:
             position (float): 目标位置 (ml)
             max_velocity (float): 移动速度 (ml/s)
-
+        
         Returns:
             dict: 符合SetPumpPosition.action定义的结果
         """
@@ -166,19 +164,19 @@ class VirtualTransferPump:
             # 验证并转换参数
             target_position = float(position)
             velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
-
+            
             # 限制位置在有效范围内
             target_position = max(0.0, min(float(self.max_volume), target_position))
-
+            
             # 计算移动距离
             volume_to_move = abs(target_position - self._position)
-
+            
             # 📊 计算显示用的时间（用于日志）
             display_duration = self._calculate_display_duration(volume_to_move, velocity)
-
+            
             # ⚡ 计算实际执行时间（快速模式）
             actual_duration = self._calculate_duration(volume_to_move, velocity)
-
+            
             # 🎯 确定操作类型和emoji
             if target_position > self._position:
                 operation_type = "吸液"
@@ -189,34 +187,28 @@ class VirtualTransferPump:
             else:
                 operation_type = "保持"
                 operation_emoji = "📍"
-
+            
             self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
-            self.logger.info(
-                f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
-            )
+            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
             self.logger.info(f"  🌊 速度: {velocity:.2f} mL/s")
             self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+            
             if self._fast_mode:
                 self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+            
             # 🚀 模拟移动过程
             if volume_to_move > 0.01:  # 只有当移动距离足够大时才显示进度
                 start_position = self._position
                 steps = 5 if actual_duration > 0.5 else 2  # 根据实际时间调整步数
                 step_duration = actual_duration / steps
-
+                
                 self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
-
+                
                 for i in range(steps + 1):
                     # 计算当前位置和进度
                     progress = (i / steps) * 100 if steps > 0 else 100
-                    current_pos = (
-                        start_position + (target_position - start_position) * (i / steps)
-                        if steps > 0
-                        else target_position
-                    )
-
+                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
+                    
                     # 更新状态
                     if i < steps:
                         self._status = f"{operation_type}中"
@@ -224,10 +216,10 @@ class VirtualTransferPump:
                     else:
                         self._status = "Idle"
                         status_emoji = "✅"
-
+                    
                     self._position = current_pos
                     self._current_volume = current_pos
-
+                    
                     # 显示进度（每25%或最后一步）
                     if i == 0:
                         self.logger.debug(f"  🔄 {operation_type}开始: {progress:.0f}%")
@@ -235,7 +227,7 @@ class VirtualTransferPump:
                         self.logger.debug(f"  🔄 {operation_type}进度: {progress:.0f}%")
                     elif i == steps:
                         self.logger.info(f"  ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
-
+                    
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
                         await self._ros_node.sleep(step_duration)
@@ -244,27 +236,25 @@ class VirtualTransferPump:
                 self._position = target_position
                 self._current_volume = target_position
                 self.logger.info(f"  📍 微调完成: {target_position:.2f}mL")
-
+        
             # 确保最终位置准确
             self._position = target_position
             self._current_volume = target_position
             self._status = "Idle"
-
+            
             # 📊 最终状态日志
             if volume_to_move > 0.01:
-                self.logger.info(
-                    f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
-                )
-
+                self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
+            
             # 返回符合action定义的结果
             return {
                 "success": True,
                 "message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
                 "final_position": self._position,
                 "final_volume": self._current_volume,
-                "operation_type": operation_type,
+                "operation_type": operation_type
             }
-
+            
         except Exception as e:
             error_msg = f"❌ 设置位置失败: {str(e)}"
             self.logger.error(error_msg)
@@ -272,136 +262,134 @@ class VirtualTransferPump:
                 "success": False,
                 "message": error_msg,
                 "final_position": self._position,
-                "final_volume": self._current_volume,
+                "final_volume": self._current_volume
             }
-
+    
     # 其他泵操作方法
     async def pull_plunger(self, volume: float, velocity: float = None):
         """
         拉取柱塞（吸液） 📥
-
+        
         Args:
             volume (float): 要拉取的体积 (ml)
             velocity (float): 拉取速度 (ml/s)
         """
         new_position = min(self.max_volume, self._position + volume)
         actual_volume = new_position - self._position
-
+        
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
             return
-
+        
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-
+        
         self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+        
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+        
         await self._simulate_operation(actual_duration)
-
+        
         self._position = new_position
         self._current_volume = new_position
-
+        
         self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     async def push_plunger(self, volume: float, velocity: float = None):
         """
         推出柱塞（排液） 📤
-
+        
         Args:
             volume (float): 要推出的体积 (ml)
             velocity (float): 推出速度 (ml/s)
         """
         new_position = max(0, self._position - volume)
         actual_volume = self._position - new_position
-
+        
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
             return
-
+        
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-
+        
         self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+        
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+        
         await self._simulate_operation(actual_duration)
-
+        
         self._position = new_position
         self._current_volume = new_position
-
+        
         self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     # 便捷操作方法
     async def aspirate(self, volume: float, velocity: float = None):
         """吸液操作 📥"""
         await self.pull_plunger(volume, velocity)
-
+    
     async def dispense(self, volume: float, velocity: float = None):
         """排液操作 📤"""
         await self.push_plunger(volume, velocity)
-
+    
     async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
         """转移操作（先吸后排） 🔄"""
         self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
-
+        
         # 吸液
         await self.aspirate(volume, aspirate_velocity)
-
+        
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
         await self._ros_node.sleep(0.1)
-
+        
         # 排液
         await self.dispense(volume, dispense_velocity)
-
+    
     async def empty_syringe(self, velocity: float = None):
         """清空注射器"""
         await self.set_position(0, velocity)
-
+    
     async def fill_syringe(self, velocity: float = None):
         """充满注射器"""
         await self.set_position(self.max_volume, velocity)
-
+    
     async def stop_operation(self):
         """停止当前操作"""
         self._status = "Idle"
         self.logger.info("Operation stopped")
-
+    
     # 状态查询方法
     def get_position(self) -> float:
         """获取当前位置"""
         return self._position
-
+    
     def get_current_volume(self) -> float:
         """获取当前体积"""
         return self._current_volume
-
+    
     def get_remaining_capacity(self) -> float:
         """获取剩余容量"""
         return self.max_volume - self._current_volume
-
+    
     def is_empty(self) -> bool:
         """检查是否为空"""
         return self._current_volume <= 0.01  # 允许小量误差
-
+    
     def is_full(self) -> bool:
         """检查是否已满"""
         return self._current_volume >= (self.max_volume - 0.01)  # 允许小量误差
-
+    
     def __str__(self):
-        return (
-            f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-        )
-
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+    
     def __repr__(self):
         return self.__str__()
 
@@ -410,20 +398,20 @@ class VirtualTransferPump:
 async def demo():
     """虚拟泵使用示例"""
     pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-
+    
     await pump.initialize()
-
+    
     print(f"Initial state: {pump}")
-
+    
     # 测试set_position方法
     result = await pump.set_position(10.0, max_velocity=2.0)
     print(f"Set position result: {result}")
     print(f"After setting position to 10ml: {pump}")
-
+    
     # 吸液测试
     await pump.aspirate(5.0, velocity=2.0)
     print(f"After aspirating 5ml: {pump}")
-
+    
     # 清空测试
     result = await pump.set_position(0.0)
     print(f"Empty result: {result}")

unilabos/devices/virtual/workbench.py

@@ -1,759 +0,0 @@
-"""
-Virtual Workbench Device - 模拟工作台设备
-包含：
-- 1个机械臂 (每次操作3s, 独占锁)
-- 3个加热台 (每次加热10s, 可并行)
-
-工作流程：
-1. A1-A5 物料同时启动，竞争机械臂
-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
-
-注意：调用来自线程池，使用 threading.Lock 进行同步
-"""
-
-import logging
-import time
-from typing import Dict, Any, Optional, List
-from dataclasses import dataclass
-from enum import Enum
-from threading import Lock, RLock
-
-from typing_extensions import TypedDict
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action, always_free
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
-
-
-# ============ TypedDict 返回类型定义 ============
-
-
-class MoveToHeatingStationResult(TypedDict):
-    """move_to_heating_station 返回类型"""
-
-    success: bool
-    station_id: int
-    material_id: str
-    material_number: int
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-class StartHeatingResult(TypedDict):
-    """start_heating 返回类型"""
-
-    success: bool
-    station_id: int
-    material_id: str
-    material_number: int
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-class MoveToOutputResult(TypedDict):
-    """move_to_output 返回类型"""
-
-    success: bool
-    station_id: int
-    material_id: str
-    unilabos_samples: List[LabSample]
-
-
-class PrepareMaterialsResult(TypedDict):
-    """prepare_materials 返回类型 - 批量准备物料"""
-
-    success: bool
-    count: int
-    material_1: int  # 物料编号1
-    material_2: int  # 物料编号2
-    material_3: int  # 物料编号3
-    material_4: int  # 物料编号4
-    material_5: int  # 物料编号5
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-# ============ 状态枚举 ============
-
-
-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
-    HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成，等待取走
-
-
-class ArmState(Enum):
-    """机械臂状态枚举"""
-
-    IDLE = "idle"  # 空闲
-    BUSY = "busy"  # 工作中
-
-
-@dataclass
-class HeatingStation:
-    """加热台数据结构"""
-
-    station_id: int
-    state: HeatingStationState = HeatingStationState.IDLE
-    current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
-    material_number: Optional[int] = None  # 物料编号 (1-5)
-    heating_start_time: Optional[float] = None
-    heating_progress: float = 0.0
-
-
-class VirtualWorkbench:
-    """
-    Virtual Workbench Device - 虚拟工作台设备
-
-    模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒，同一时间只能执行一个操作
-    - 加热台加热耗时10秒，3个加热台可并行工作
-
-    工作流:
-    1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
-    2. 获取机械臂后，查找空闲加热台
-    3. 机械臂将物料放入加热台，开始加热
-    4. 加热完成后，机械臂将物料移动到目标位置Cn
-    """
-
-    _ros_node: BaseROS2DeviceNode
-
-    # 配置常量
-    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 60.0  # 加热时间(秒)
-    NUM_HEATING_STATIONS: int = 3  # 加热台数量
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        # 处理可能的不同调用方式
-        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 "virtual_workbench"
-        self.config = config or {}
-
-        self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
-        self.data: Dict[str, Any] = {}
-
-        # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
-        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)
-        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()
-        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
-
-        # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}  # material_id -> task_info
-        self._tasks_lock = Lock()
-
-        # 处理其他kwargs参数
-        skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
-        for key, value in kwargs.items():
-            if key not in skip_keys and not hasattr(self, key):
-                setattr(self, key, value)
-
-        self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
-        self.logger.info(
-            f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
-            f"加热时间: {self.HEATING_TIME}s | "
-            f"加热台数量: {self.NUM_HEATING_STATIONS}"
-        )
-
-    @not_action
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        """ROS节点初始化后回调"""
-        self._ros_node = ros_node
-
-    @not_action
-    def initialize(self) -> bool:
-        """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
-                station.current_material = None
-                station.material_number = None
-                station.heating_progress = 0.0
-
-        # 初始化状态
-        self.data.update(
-            {
-                "status": "Ready",
-                "arm_state": ArmState.IDLE.value,
-                "arm_current_task": None,
-                "heating_stations": self._get_stations_status(),
-                "active_tasks_count": 0,
-                "message": "工作台就绪",
-            }
-        )
-
-        self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
-        return True
-
-    @not_action
-    def cleanup(self) -> bool:
-        """清理虚拟工作台"""
-        self.logger.info(f"清理虚拟工作台 {self.device_id}")
-
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task = None
-
-        with self._stations_lock:
-            self._heating_stations.clear()
-
-        with self._tasks_lock:
-            self._active_tasks.clear()
-
-        self.data.update(
-            {
-                "status": "Offline",
-                "arm_state": ArmState.IDLE.value,
-                "heating_stations": {},
-                "message": "工作台已关闭",
-            }
-        )
-        return True
-
-    def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
-        """获取所有加热台状态"""
-        with self._stations_lock:
-            return {
-                station_id: {
-                    "state": station.state.value,
-                    "current_material": station.current_material,
-                    "material_number": station.material_number,
-                    "heating_progress": station.heating_progress,
-                }
-                for station_id, station in self._heating_stations.items()
-            }
-
-    def _update_data_status(self, message: Optional[str] = None):
-        """更新状态数据"""
-        self.data.update(
-            {
-                "arm_state": self._arm_state.value,
-                "arm_current_task": self._arm_current_task,
-                "heating_stations": self._get_stations_status(),
-                "active_tasks_count": len(self._active_tasks),
-            }
-        )
-        if message:
-            self.data["message"] = message
-
-    def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台
-
-        Returns:
-            空闲加热台ID，如果没有则返回None
-        """
-        with self._stations_lock:
-            for station_id, station in self._heating_stations.items():
-                if station.state == HeatingStationState.IDLE:
-                    return station_id
-        return None
-
-    def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权（阻塞直到获取）
-
-        Args:
-            task_description: 任务描述，用于日志
-
-        Returns:
-            是否成功获取
-        """
-        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
-
-    def _release_arm(self):
-        """释放机械臂"""
-        task = self._arm_current_task
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task = None
-        self._arm_lock.release()
-        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})")
-
-    def prepare_materials(
-        self,
-        sample_uuids: SampleUUIDsType,
-        count: int = 5,
-    ) -> PrepareMaterialsResult:
-        """
-        批量准备物料 - 虚拟起始节点
-
-        作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
-
-        Args:
-            count: 待生成的物料数量，默认5 (生成 A1-A5)
-
-        Returns:
-            PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
-        """
-        # 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}")
-
-        return {
-            "success": True,
-            "count": count,
-            "material_1": materials[0] if len(materials) > 0 else 0,
-            "material_2": materials[1] if len(materials) > 1 else 0,
-            "material_3": materials[2] if len(materials) > 2 else 0,
-            "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()]
-        }
-
-    def move_to_heating_station(
-        self,
-        sample_uuids: SampleUUIDsType,
-        material_number: int,
-    ) -> MoveToHeatingStationResult:
-        """
-        将物料从An位置移动到加热台
-
-        多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
-
-        Args:
-            material_number: 物料编号 (1-5)
-
-        Returns:
-            MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
-        """
-        # 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",
-                "start_time": time.time(),
-            }
-
-        try:
-            # 步骤1: 等待获取机械臂使用权(竞争)
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "waiting_for_arm"
-            self._acquire_arm(task_desc)
-
-            # 步骤2: 查找空闲加热台
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "finding_station"
-            station_id = None
-
-            # 循环等待直到找到空闲加热台
-            while station_id is None:
-                station_id = self._find_available_heating_station()
-                if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
-                    # 释放机械臂，等待后重试
-                    self._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
-            self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
-
-            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)")
-
-            # 释放机械臂
-            self._release_arm()
-
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "placed_on_station"
-
-            return {
-                "success": True,
-                "station_id": station_id,
-                "material_id": material_id,
-                "material_number": material_number,
-                "message": f"{material_id}已成功移动到加热台{station_id}",
-                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
-            }
-
-        except Exception as e:
-            self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
-            if self._arm_lock.locked():
-                self._release_arm()
-            return {
-                "success": False,
-                "station_id": -1,
-                "material_id": material_id,
-                "material_number": material_number,
-                "message": f"移动失败: {str(e)}",
-                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
-            }
-
-    @always_free
-    def start_heating(
-        self,
-        sample_uuids: SampleUUIDsType,
-        station_id: int,
-        material_number: int,
-    ) -> 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")
-
-        if station_id not in self._heating_stations:
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "material_number": material_number,
-                "message": f"无效的加热台ID: {station_id}",
-                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
-            }
-
-        with self._stations_lock:
-            station = self._heating_stations[station_id]
-
-            if station.current_material is None:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": "",
-                    "material_number": material_number,
-                    "message": f"加热台{station_id}上没有物料",
-                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
-                }
-
-            if station.state == HeatingStationState.HEATING:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": station.current_material,
-                    "material_number": material_number,
-                    "message": f"加热台{station_id}已经在加热中",
-                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
-                }
-
-            material_id = station.current_material
-
-            # 开始加热
-            station.state = HeatingStationState.HEATING
-            station.heating_start_time = time.time()
-            station.heating_progress = 0.0
-
-        with self._tasks_lock:
-            if material_id in self._active_tasks:
-                self._active_tasks[material_id]["status"] = "heating"
-
-        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}"
-                for sid, s in self._heating_stations.items()
-                if s.state == HeatingStationState.HEATING and s.current_material
-            ]
-        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:
-            elapsed = time.time() - start_time
-            remaining = max(0.0, self.HEATING_TIME - elapsed)
-            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
-
-            with self._stations_lock:
-                self._heating_stations[station_id].heating_progress = progress
-
-            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()
-
-            if elapsed >= self.HEATING_TIME:
-                break
-
-            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
-
-        with self._tasks_lock:
-            if material_id in self._active_tasks:
-                self._active_tasks[material_id]["status"] = "heating_completed"
-
-        self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
-
-        return {
-            "success": True,
-            "station_id": station_id,
-            "material_id": material_id,
-            "material_number": material_number,
-            "message": f"加热台{station_id}加热完成",
-            "unilabos_samples": [
-                LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                sample_uuid, content in sample_uuids.items()]
-        }
-
-    def move_to_output(
-        self,
-        sample_uuids: SampleUUIDsType,
-        station_id: int,
-        material_number: int,
-    ) -> 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
-
-        if station_id not in self._heating_stations:
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "output_position": f"C{output_number}",
-                "message": f"无效的加热台ID: {station_id}",
-                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
-            }
-
-        with self._stations_lock:
-            station = self._heating_stations[station_id]
-            material_id = station.current_material
-
-            if material_id is None:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": "",
-                    "output_position": f"C{output_number}",
-                    "message": f"加热台{station_id}上没有物料",
-                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
-                }
-
-            if station.state != HeatingStationState.COMPLETED:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": material_id,
-                    "output_position": f"C{output_number}",
-                    "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
-                    "unilabos_samples": [
-                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                        sample_uuid, content in sample_uuids.items()]
-                }
-
-        output_position = f"C{output_number}"
-        task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
-        self.logger.info(f"[任务] {task_desc}")
-
-        try:
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
-
-            # 获取机械臂
-            self._acquire_arm(task_desc)
-
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "arm_moving_to_output"
-
-            # 模拟机械臂操作 (3秒)
-            self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
-            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
-                self._heating_stations[station_id].material_number = None
-                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)")
-
-            return {
-                "success": True,
-                "station_id": station_id,
-                "material_id": material_id,
-                "output_position": output_position,
-                "message": f"{material_id}已成功移动到{output_position}",
-                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
-            }
-
-        except Exception as e:
-            self.logger.error(f"移动到输出位置失败: {str(e)}")
-            if self._arm_lock.locked():
-                self._release_arm()
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "output_position": output_position,
-                "message": f"移动失败: {str(e)}",
-                "unilabos_samples": [
-                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
-                    sample_uuid, content in sample_uuids.items()]
-            }
-
-    # ============ 状态属性 ============
-
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "Unknown")
-
-    @property
-    def arm_state(self) -> str:
-        return self._arm_state.value
-
-    @property
-    def arm_current_task(self) -> str:
-        return self._arm_current_task or ""
-
-    @property
-    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
-    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
-    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
-    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
-    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
-    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
-    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
-    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
-    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
-    def active_tasks_count(self) -> int:
-        with self._tasks_lock:
-            return len(self._active_tasks)
-
-    @property
-    def message(self) -> str:
-        return self.data.get("message", "")

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

unilabos/registry/device_comms/communication_devices.yaml

@@ -96,13 +96,10 @@ serial:
           type: string
         port:
           type: string
-        registry_name:
-          type: string
         resource_tracker:
           type: object
       required:
       - device_id
-      - registry_name
       - port
       type: object
     data:

unilabos/registry/devices/bioyond.yaml

@@ -0,0 +1,589 @@
+workstation.bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  class:
+    action_value_mappings:
+      auto-batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal: {}
+        goal_default:
+          delay_time: null
+          hold_m_name: null
+          liquid_material_name: NMP
+          speed: null
+          temperature: null
+          titration: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+                titration:
+                  type: string
+              required:
+              - titration
+              type: object
+            result: {}
+          required:
+          - goal
+          title: batch_create_90_10_vial_feeding_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      auto-batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal: {}
+        goal_default:
+          delay_time: null
+          liquid_material_name: NMP
+          solutions: null
+          speed: null
+          temperature: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  type: string
+                solutions:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - solutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: batch_create_diamine_solution_tasks参数
+          type: object
+        type: UniLabJsonCommand
+      auto-brief_step_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: object
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: brief_step_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-compute_experiment_design:
+        feedback: {}
+        goal: {}
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  type: string
+                ratio:
+                  type: object
+                titration_percent:
+                  default: '0.03'
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  items: {}
+                  title: Feeding Order
+                  type: array
+                return_info:
+                  title: Return Info
+                  type: string
+                solutions:
+                  items: {}
+                  title: Solutions
+                  type: array
+                solvents:
+                  additionalProperties: true
+                  title: Solvents
+                  type: object
+                titration:
+                  additionalProperties: true
+                  title: Titration
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesignReturn
+              type: object
+          required:
+          - goal
+          title: compute_experiment_design参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_order_finish_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+          used_materials: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+                used_materials:
+                  type: string
+              required:
+              - report_request
+              - used_materials
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_order_finish_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_multiple_orders_and_get_reports:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_create_result:
+                  type: string
+                check_interval:
+                  default: 10
+                  type: integer
+                timeout:
+                  default: 7200
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_multiple_orders_and_get_reports参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_10_3_assign_material_name: percent_10_3_assign_material_name
+          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
+          percent_10_3_target_weigh: percent_10_3_target_weigh
+          percent_10_3_volume: percent_10_3_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_10_3_assign_material_name: ''
+          percent_10_3_liquid_material_name: ''
+          percent_10_3_target_weigh: ''
+          percent_10_3_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: ''
+          temperature: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationVialFeed_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                order_name:
+                  type: string
+                percent_10_1_assign_material_name:
+                  type: string
+                percent_10_1_liquid_material_name:
+                  type: string
+                percent_10_1_target_weigh:
+                  type: string
+                percent_10_1_volume:
+                  type: string
+                percent_10_2_assign_material_name:
+                  type: string
+                percent_10_2_liquid_material_name:
+                  type: string
+                percent_10_2_target_weigh:
+                  type: string
+                percent_10_2_volume:
+                  type: string
+                percent_10_3_assign_material_name:
+                  type: string
+                percent_10_3_liquid_material_name:
+                  type: string
+                percent_10_3_target_weigh:
+                  type: string
+                percent_10_3_volume:
+                  type: string
+                percent_90_1_assign_material_name:
+                  type: string
+                percent_90_1_target_weigh:
+                  type: string
+                percent_90_2_assign_material_name:
+                  type: string
+                percent_90_2_target_weigh:
+                  type: string
+                percent_90_3_assign_material_name:
+                  type: string
+                percent_90_3_target_weigh:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationVialFeed_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationVialFeed_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationVialFeed
+          type: object
+        type: DispenStationVialFeed
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          liquid_material_name: ''
+          material_name: ''
+          order_name: ''
+          speed: ''
+          target_weigh: ''
+          temperature: ''
+          volume: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationSolnPrep_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  type: string
+                material_name:
+                  type: string
+                order_name:
+                  type: string
+                speed:
+                  type: string
+                target_weigh:
+                  type: string
+                temperature:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationSolnPrep_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationSolnPrep_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationSolnPrep
+          type: object
+        type: DispenStationSolnPrep
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+        deck:
+          type: string
+      required:
+      - config
+      - deck
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -5,135 +5,6 @@ bioyond_dispensing_station:
   - bioyond_dispensing_station
   class:
     action_value_mappings:
-      auto-brief_step_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                data:
-                  type: object
-              required:
-              - data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: brief_step_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
       batch_create_90_10_vial_feeding_tasks:
         feedback: {}
         goal:

unilabos/registry/devices/camera.yaml

@@ -67,9 +67,6 @@ camera:
         period:
           default: 0.1
           type: number
-        registry_name:
-          default: ''
-          type: string
         resource_tracker:
           type: object
       required: []

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

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -405,7 +405,7 @@ coincellassemblyworkstation_device:
             goal:
               properties:
                 bottle_num:
-                  type: string
+                  type: integer
               required:
               - bottle_num
               type: object

unilabos/registry/devices/liquid_handler.yaml

@@ -638,7 +638,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
+          description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
           properties:
             feedback: {}
             goal:
@@ -712,43 +712,6 @@ liquid_handler:
           title: set_group参数
           type: object
         type: UniLabJsonCommand
-      auto-set_liquid_from_plate:
-        feedback: {}
-        goal: {}
-        goal_default:
-          liquid_names: null
-          plate: null
-          volumes: null
-          well_names: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                liquid_names:
-                  type: string
-                plate:
-                  type: string
-                volumes:
-                  type: string
-                well_names:
-                  type: string
-              required:
-              - plate
-              - well_names
-              - liquid_names
-              - volumes
-              type: object
-            result: {}
-          required:
-          - goal
-          title: set_liquid_from_plate参数
-          type: object
-        type: UniLabJsonCommand
       auto-set_tiprack:
         feedback: {}
         goal: {}
@@ -758,7 +721,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
+          description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
           properties:
             feedback: {}
             goal:
@@ -4130,32 +4093,32 @@ liquid_handler:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: 待移动液体
-          - data_key: targets
-            data_source: handle
-            data_type: resource
-            handler_key: targets
-            label: 转移目标
-          - data_key: tip_racks
-            data_source: handle
-            data_type: resource
-            handler_key: tip_rack
-            label: 枪头盒
-          output:
-          - data_key: sources.@flatten
+            label: sources
+          - data_key: liquid
             data_source: executor
             data_type: resource
+            handler_key: targets
+            label: targets
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: tip_rack
+            label: tip_rack
+          output:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
             handler_key: sources_out
-            label: 移液后源孔
-          - data_key: targets.@flatten
+            label: sources
+          - data_key: liquid
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: 移液后目标孔
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -5151,34 +5114,19 @@ liquid_handler.biomek:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
-            handler_key: sources
+            handler_key: liquid-input
             io_type: target
-            label: 待移动液体
-          - data_key: targets
-            data_source: handle
-            data_type: resource
-            handler_key: targets
-            label: 转移目标
-          - data_key: tip_racks
-            data_source: handle
-            data_type: resource
-            handler_key: tip_rack
-            label: 枪头盒
+            label: Liquid Input
           output:
-          - data_key: sources.@flatten
+          - data_key: liquid
             data_source: executor
             data_type: resource
-            handler_key: sources_out
+            handler_key: liquid-output
             io_type: source
-            label: 移液后源孔
-          - data_key: targets.@flatten
-            data_source: executor
-            data_type: resource
-            handler_key: targets_out
-            label: 移液后目标孔
+            label: Liquid Output
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -9336,13 +9284,7 @@ liquid_handler.prcxi:
             data_source: handle
             data_type: resource
             handler_key: input_wells
-            label: 待设定液体孔
-          output:
-          - data_key: wells.@flatten
-            data_source: executor
-            data_type: resource
-            handler_key: output_wells
-            label: 已设定液体孔
+            label: InputWells
         placeholder_keys:
           wells: unilabos_resources
         result: {}
@@ -9458,352 +9400,6 @@ liquid_handler.prcxi:
           title: LiquidHandlerSetLiquid
           type: object
         type: LiquidHandlerSetLiquid
-      set_liquid_from_plate:
-        feedback: {}
-        goal: {}
-        goal_default:
-          liquid_names: null
-          plate: null
-          volumes: null
-          well_names: null
-        handles:
-          input:
-          - data_key: '@this.0@@@plate'
-            data_source: handle
-            data_type: resource
-            handler_key: input_plate
-            label: 待设定液体板
-          output:
-          - data_key: plate.@flatten
-            data_source: executor
-            data_type: resource
-            handler_key: output_plate
-            label: 已设定液体板
-          - data_key: wells.@flatten
-            data_source: executor
-            data_type: resource
-            handler_key: output_wells
-            label: 已设定液体孔
-          - data_key: volumes
-            data_source: executor
-            data_type: number_array
-            handler_key: output_volumes
-            label: 各孔设定体积
-        placeholder_keys:
-          plate: unilabos_resources
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                liquid_names:
-                  items:
-                    type: string
-                  type: array
-                plate:
-                  properties:
-                    category:
-                      type: string
-                    children:
-                      items:
-                        type: string
-                      type: array
-                    config:
-                      type: string
-                    data:
-                      type: string
-                    id:
-                      type: string
-                    name:
-                      type: string
-                    parent:
-                      type: string
-                    pose:
-                      properties:
-                        orientation:
-                          properties:
-                            w:
-                              type: number
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          - w
-                          title: orientation
-                          type: object
-                        position:
-                          properties:
-                            x:
-                              type: number
-                            y:
-                              type: number
-                            z:
-                              type: number
-                          required:
-                          - x
-                          - y
-                          - z
-                          title: position
-                          type: object
-                      required:
-                      - position
-                      - orientation
-                      title: pose
-                      type: object
-                    sample_id:
-                      type: string
-                    type:
-                      type: string
-                  required:
-                  - id
-                  - name
-                  - sample_id
-                  - children
-                  - parent
-                  - type
-                  - category
-                  - pose
-                  - config
-                  - data
-                  title: plate
-                  type: object
-                volumes:
-                  items:
-                    type: number
-                  type: array
-                well_names:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - plate
-              - well_names
-              - liquid_names
-              - volumes
-              type: object
-            result:
-              $defs:
-                ResourceDict:
-                  properties:
-                    class:
-                      description: Resource class name
-                      title: Class
-                      type: string
-                    config:
-                      additionalProperties: true
-                      description: Resource configuration
-                      title: Config
-                      type: object
-                    data:
-                      additionalProperties: true
-                      description: 'Resource data, eg: container liquid data'
-                      title: Data
-                      type: object
-                    description:
-                      default: ''
-                      description: Resource description
-                      title: Description
-                      type: string
-                    extra:
-                      additionalProperties: true
-                      description: 'Extra data, eg: slot index'
-                      title: Extra
-                      type: object
-                    icon:
-                      default: ''
-                      description: Resource icon
-                      title: Icon
-                      type: string
-                    id:
-                      description: Resource ID
-                      title: Id
-                      type: string
-                    model:
-                      additionalProperties: true
-                      description: Resource model
-                      title: Model
-                      type: object
-                    name:
-                      description: Resource name
-                      title: Name
-                      type: string
-                    parent:
-                      anyOf:
-                      - $ref: '#/$defs/ResourceDict'
-                      - type: 'null'
-                      default: null
-                      description: Parent resource object
-                    parent_uuid:
-                      anyOf:
-                      - type: string
-                      - type: 'null'
-                      default: null
-                      description: Parent resource uuid
-                      title: Parent Uuid
-                    pose:
-                      $ref: '#/$defs/ResourceDictPosition'
-                      description: Resource position
-                    schema:
-                      additionalProperties: true
-                      description: Resource schema
-                      title: Schema
-                      type: object
-                    type:
-                      anyOf:
-                      - const: device
-                        type: string
-                      - type: string
-                      description: Resource type
-                      title: Type
-                    uuid:
-                      description: Resource UUID
-                      title: Uuid
-                      type: string
-                  required:
-                  - id
-                  - uuid
-                  - name
-                  - type
-                  - class
-                  - config
-                  - data
-                  - extra
-                  title: ResourceDict
-                  type: object
-                ResourceDictPosition:
-                  properties:
-                    cross_section_type:
-                      default: rectangle
-                      description: Cross section type
-                      enum:
-                      - rectangle
-                      - circle
-                      - rounded_rectangle
-                      title: Cross Section Type
-                      type: string
-                    layout:
-                      default: x-y
-                      description: Resource layout
-                      enum:
-                      - 2d
-                      - x-y
-                      - z-y
-                      - x-z
-                      title: Layout
-                      type: string
-                    position:
-                      $ref: '#/$defs/ResourceDictPositionObject'
-                      description: Resource position
-                    position3d:
-                      $ref: '#/$defs/ResourceDictPositionObject'
-                      description: Resource position in 3D space
-                    rotation:
-                      $ref: '#/$defs/ResourceDictPositionObject'
-                      description: Resource rotation
-                    scale:
-                      $ref: '#/$defs/ResourceDictPositionScale'
-                      description: Resource scale
-                    size:
-                      $ref: '#/$defs/ResourceDictPositionSize'
-                      description: Resource size
-                  title: ResourceDictPosition
-                  type: object
-                ResourceDictPositionObject:
-                  properties:
-                    x:
-                      default: 0.0
-                      description: X coordinate
-                      title: X
-                      type: number
-                    y:
-                      default: 0.0
-                      description: Y coordinate
-                      title: Y
-                      type: number
-                    z:
-                      default: 0.0
-                      description: Z coordinate
-                      title: Z
-                      type: number
-                  title: ResourceDictPositionObject
-                  type: object
-                ResourceDictPositionScale:
-                  properties:
-                    x:
-                      default: 0.0
-                      description: x scale
-                      title: X
-                      type: number
-                    y:
-                      default: 0.0
-                      description: y scale
-                      title: Y
-                      type: number
-                    z:
-                      default: 0.0
-                      description: z scale
-                      title: Z
-                      type: number
-                  title: ResourceDictPositionScale
-                  type: object
-                ResourceDictPositionSize:
-                  properties:
-                    depth:
-                      default: 0.0
-                      description: Depth
-                      title: Depth
-                      type: number
-                    height:
-                      default: 0.0
-                      description: Height
-                      title: Height
-                      type: number
-                    width:
-                      default: 0.0
-                      description: Width
-                      title: Width
-                      type: number
-                  title: ResourceDictPositionSize
-                  type: object
-              properties:
-                plate:
-                  items:
-                    items:
-                      $ref: '#/$defs/ResourceDict'
-                    type: array
-                  title: Plate
-                  type: array
-                volumes:
-                  items:
-                    type: number
-                  title: Volumes
-                  type: array
-                wells:
-                  items:
-                    items:
-                      $ref: '#/$defs/ResourceDict'
-                    type: array
-                  title: Wells
-                  type: array
-              required:
-              - plate
-              - wells
-              - volumes
-              title: SetLiquidFromPlateReturn
-              type: object
-          required:
-          - goal
-          title: set_liquid_from_plate参数
-          type: object
-        type: UniLabJsonCommand
       set_tiprack:
         feedback: {}
         goal:
@@ -10149,32 +9745,32 @@ liquid_handler.prcxi:
           - 0
         handles:
           input:
-          - data_key: sources
+          - data_key: liquid
             data_source: handle
             data_type: resource
-            handler_key: sources_identifier
-            label: 待移动液体
-          - data_key: targets
-            data_source: handle
-            data_type: resource
-            handler_key: targets_identifier
-            label: 转移目标
-          - data_key: tip_rack
-            data_source: handle
-            data_type: resource
-            handler_key: tip_rack_identifier
-            label: 枪头盒
-          output:
-          - data_key: sources.@flatten
+            handler_key: sources
+            label: sources
+          - data_key: liquid
             data_source: executor
             data_type: resource
+            handler_key: targets
+            label: targets
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: tip_rack
+            label: tip_rack
+          output:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
             handler_key: sources_out
-            label: 移液后源孔
-          - data_key: targets.@flatten
+            label: sources
+          - data_key: liquid
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: 移液后目标孔
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources

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

unilabos/registry/devices/opcua_example.yaml

@@ -49,7 +49,32 @@ opcua_example:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
-      auto-refresh_node_values:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_cache_stats:
         feedback: {}
         goal: {}
         goal_default: {}
@@ -67,7 +92,32 @@ opcua_example:
             result: {}
           required:
           - goal
-          title: refresh_node_values参数
+          title: print_cache_stats参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_node:
+        feedback: {}
+        goal: {}
+        goal_default:
+          node_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                node_name:
+                  type: string
+              required:
+              - node_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_node参数
           type: object
         type: UniLabJsonCommand
       auto-set_node_value:
@@ -99,50 +149,9 @@ opcua_example:
           title: set_node_value参数
           type: object
         type: UniLabJsonCommand
-      auto-start_node_refresh:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start_node_refresh参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop_node_refresh:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop_node_refresh参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
     status_types:
+      cache_stats: dict
       node_value: String
     type: python
   config_info: []
@@ -152,15 +161,23 @@ opcua_example:
   init_param_schema:
     config:
       properties:
+        cache_timeout:
+          default: 5.0
+          type: number
         config_path:
           type: string
+        deck:
+          type: string
         password:
           type: string
-        refresh_interval:
-          default: 1.0
-          type: number
+        subscription_interval:
+          default: 500
+          type: integer
         url:
           type: string
+        use_subscription:
+          default: true
+          type: boolean
         username:
           type: string
       required:
@@ -168,9 +185,12 @@ opcua_example:
       type: object
     data:
       properties:
+        cache_stats:
+          type: object
         node_value:
           type: string
       required:
       - node_value
+      - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -58,313 +58,6 @@ reaction_station.bioyond:
           title: add_time_constraint参数
           type: object
         type: UniLabJsonCommand
-      auto-clear_workflows:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: clear_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-create_order:
-        feedback: {}
-        goal: {}
-        goal_default:
-          json_str: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                json_str:
-                  type: string
-              required:
-              - json_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: create_order参数
-          type: object
-        type: UniLabJsonCommand
-      auto-hard_delete_merged_workflows:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_ids: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_ids:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - workflow_ids
-              type: object
-            result: {}
-          required:
-          - goal
-          title: hard_delete_merged_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-merge_workflow_with_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          json_str: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                json_str:
-                  type: string
-              required:
-              - json_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: merge_workflow_with_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_temperature_cutoff_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-              required:
-              - report_request
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_temperature_cutoff_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_web_workflows:
-        feedback: {}
-        goal: {}
-        goal_default:
-          web_workflow_json: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                web_workflow_json:
-                  type: string
-              required:
-              - web_workflow_json
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_web_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-set_reactor_temperature:
-        feedback: {}
-        goal: {}
-        goal_default:
-          reactor_id: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                reactor_id:
-                  type: integer
-                temperature:
-                  type: number
-              required:
-              - reactor_id
-              - temperature
-              type: object
-            result: {}
-          required:
-          - goal
-          title: set_reactor_temperature参数
-          type: object
-        type: UniLabJsonCommand
-      auto-skip_titration_steps:
-        feedback: {}
-        goal: {}
-        goal_default:
-          preintake_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                preintake_id:
-                  type: string
-              required:
-              - preintake_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: skip_titration_steps参数
-          type: object
-        type: UniLabJsonCommand
-      auto-sync_workflow_sequence_from_bioyond:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: sync_workflow_sequence_from_bioyond参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_multiple_orders_and_get_reports:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_create_result:
-                  type: string
-                check_interval:
-                  default: 10
-                  type: integer
-                timeout:
-                  default: 7200
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          value: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                value:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - value
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_step_query:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_step_query参数
-          type: object
-        type: UniLabJsonCommand
       clean_all_server_workflows:
         feedback: {}
         goal: {}
@@ -981,7 +674,17 @@ reaction_station.bioyond:
     module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
-      workflow_sequence: str
+      average_viscosity: Float64
+      force: Float64
+      in_temperature: Float64
+      out_temperature: Float64
+      pt100_temperature: Float64
+      sensor_average_temperature: Float64
+      setting_temperature: Float64
+      speed: Float64
+      target_temperature: Float64
+      viscosity: Float64
+      workflow_sequence: String
     type: python
   config_info: []
   description: Bioyond反应站
@@ -1001,7 +704,9 @@ reaction_station.bioyond:
     data:
       properties:
         workflow_sequence:
-          type: string
+          items:
+            type: string
+          type: array
       required:
       - workflow_sequence
       type: object
@@ -1011,34 +716,19 @@ reaction_station.reactor:
   - reactor
   - reaction_station_bioyond
   class:
-    action_value_mappings:
-      auto-update_metrics:
-        feedback: {}
-        goal: {}
-        goal_default:
-          payload: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                payload:
-                  type: object
-              required:
-              - payload
-              type: object
-            result: {}
-          required:
-          - goal
-          title: update_metrics参数
-          type: object
-        type: UniLabJsonCommand
+    action_value_mappings: {}
     module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
-    status_types: {}
+    status_types:
+      average_viscosity: Float64
+      force: Float64
+      in_temperature: Float64
+      out_temperature: Float64
+      pt100_temperature: Float64
+      sensor_average_temperature: Float64
+      setting_temperature: Float64
+      speed: Float64
+      target_temperature: Float64
+      viscosity: Float64
     type: python
   config_info: []
   description: 反应站子设备-反应器

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

unilabos/registry/devices/virtual_device.yaml

@@ -5792,482 +5792,3 @@ virtual_vacuum_pump:
       - status
       type: object
   version: 1.0.0
-virtual_workbench:
-  category:
-  - virtual_device
-  class:
-    action_value_mappings:
-      auto-move_to_heating_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_number: null
-        handles:
-          input:
-          - data_key: material_number
-            data_source: handle
-            data_type: workbench_material
-            handler_key: material_input
-            label: 物料编号
-          output:
-          - data_key: station_id
-            data_source: executor
-            data_type: workbench_station
-            handler_key: heating_station_output
-            label: 加热台ID
-          - data_key: material_number
-            data_source: executor
-            data_type: workbench_material
-            handler_key: material_number_output
-            label: 物料编号
-        placeholder_keys: {}
-        result: {}
-        schema:
-          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
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_number:
-                  description: 物料编号，1-5，物料ID自动生成为A{n}
-                  type: integer
-              required:
-              - material_number
-              type: object
-            result:
-              $defs:
-                LabSample:
-                  properties:
-                    extra:
-                      additionalProperties: true
-                      title: Extra
-                      type: object
-                    oss_path:
-                      title: Oss Path
-                      type: string
-                    sample_uuid:
-                      title: Sample Uuid
-                      type: string
-                  required:
-                  - sample_uuid
-                  - oss_path
-                  - extra
-                  title: LabSample
-                  type: object
-              description: move_to_heating_station 返回类型
-              properties:
-                material_id:
-                  title: Material Id
-                  type: string
-                material_number:
-                  title: Material Number
-                  type: integer
-                message:
-                  title: Message
-                  type: string
-                station_id:
-                  description: 分配的加热台ID
-                  title: Station Id
-                  type: integer
-                success:
-                  title: Success
-                  type: boolean
-                unilabos_samples:
-                  items:
-                    $ref: '#/$defs/LabSample'
-                  title: Unilabos Samples
-                  type: array
-              required:
-              - success
-              - station_id
-              - material_id
-              - material_number
-              - message
-              - unilabos_samples
-              title: MoveToHeatingStationResult
-              type: object
-          required:
-          - goal
-          title: move_to_heating_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-move_to_output:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_number: null
-          station_id: null
-        handles:
-          input:
-          - data_key: station_id
-            data_source: handle
-            data_type: workbench_station
-            handler_key: output_station_input
-            label: 加热台ID
-          - data_key: material_number
-            data_source: handle
-            data_type: workbench_material
-            handler_key: output_material_input
-            label: 物料编号
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 将物料从加热台移动到输出位置Cn
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_number:
-                  description: 物料编号，用于确定输出位置Cn
-                  type: integer
-                station_id:
-                  description: 加热台ID，1-3，从上一节点传入
-                  type: integer
-              required:
-              - station_id
-              - material_number
-              type: object
-            result:
-              $defs:
-                LabSample:
-                  properties:
-                    extra:
-                      additionalProperties: true
-                      title: Extra
-                      type: object
-                    oss_path:
-                      title: Oss Path
-                      type: string
-                    sample_uuid:
-                      title: Sample Uuid
-                      type: string
-                  required:
-                  - sample_uuid
-                  - oss_path
-                  - extra
-                  title: LabSample
-                  type: object
-              description: move_to_output 返回类型
-              properties:
-                material_id:
-                  title: Material Id
-                  type: string
-                station_id:
-                  title: Station Id
-                  type: integer
-                success:
-                  title: Success
-                  type: boolean
-                unilabos_samples:
-                  items:
-                    $ref: '#/$defs/LabSample'
-                  title: Unilabos Samples
-                  type: array
-              required:
-              - success
-              - station_id
-              - material_id
-              - unilabos_samples
-              title: MoveToOutputResult
-              type: object
-          required:
-          - goal
-          title: move_to_output参数
-          type: object
-        type: UniLabJsonCommand
-      auto-prepare_materials:
-        feedback: {}
-        goal: {}
-        goal_default:
-          count: 5
-        handles:
-          output:
-          - data_key: material_1
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_1
-            label: 实验1
-          - data_key: material_2
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_2
-            label: 实验2
-          - data_key: material_3
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_3
-            label: 实验3
-          - data_key: material_4
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_4
-            label: 实验4
-          - data_key: material_5
-            data_source: executor
-            data_type: workbench_material
-            handler_key: channel_5
-            label: 实验5
-        placeholder_keys: {}
-        result: {}
-        schema:
-          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
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                count:
-                  default: 5
-                  description: 待生成的物料数量，默认5 (生成 A1-A5)
-                  type: integer
-              required: []
-              type: object
-            result:
-              $defs:
-                LabSample:
-                  properties:
-                    extra:
-                      additionalProperties: true
-                      title: Extra
-                      type: object
-                    oss_path:
-                      title: Oss Path
-                      type: string
-                    sample_uuid:
-                      title: Sample Uuid
-                      type: string
-                  required:
-                  - sample_uuid
-                  - oss_path
-                  - extra
-                  title: LabSample
-                  type: object
-              description: prepare_materials 返回类型 - 批量准备物料
-              properties:
-                count:
-                  title: Count
-                  type: integer
-                material_1:
-                  title: Material 1
-                  type: integer
-                material_2:
-                  title: Material 2
-                  type: integer
-                material_3:
-                  title: Material 3
-                  type: integer
-                material_4:
-                  title: Material 4
-                  type: integer
-                material_5:
-                  title: Material 5
-                  type: integer
-                message:
-                  title: Message
-                  type: string
-                success:
-                  title: Success
-                  type: boolean
-                unilabos_samples:
-                  items:
-                    $ref: '#/$defs/LabSample'
-                  title: Unilabos Samples
-                  type: array
-              required:
-              - success
-              - count
-              - material_1
-              - material_2
-              - material_3
-              - material_4
-              - material_5
-              - message
-              - unilabos_samples
-              title: PrepareMaterialsResult
-              type: object
-          required:
-          - goal
-          title: prepare_materials参数
-          type: object
-        type: UniLabJsonCommand
-      auto-start_heating:
-        always_free: true
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_number: null
-          station_id: null
-        handles:
-          input:
-          - data_key: station_id
-            data_source: handle
-            data_type: workbench_station
-            handler_key: station_id_input
-            label: 加热台ID
-          - data_key: material_number
-            data_source: handle
-            data_type: workbench_material
-            handler_key: material_number_input
-            label: 物料编号
-          output:
-          - data_key: station_id
-            data_source: executor
-            data_type: workbench_station
-            handler_key: heating_done_station
-            label: 加热完成-加热台ID
-          - data_key: material_number
-            data_source: executor
-            data_type: workbench_material
-            handler_key: heating_done_material
-            label: 加热完成-物料编号
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 启动指定加热台的加热程序
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_number:
-                  description: 物料编号，从上一节点传入
-                  type: integer
-                station_id:
-                  description: 加热台ID，1-3，从上一节点传入
-                  type: integer
-              required:
-              - station_id
-              - material_number
-              type: object
-            result:
-              $defs:
-                LabSample:
-                  properties:
-                    extra:
-                      additionalProperties: true
-                      title: Extra
-                      type: object
-                    oss_path:
-                      title: Oss Path
-                      type: string
-                    sample_uuid:
-                      title: Sample Uuid
-                      type: string
-                  required:
-                  - sample_uuid
-                  - oss_path
-                  - extra
-                  title: LabSample
-                  type: object
-              description: start_heating 返回类型
-              properties:
-                material_id:
-                  title: Material Id
-                  type: string
-                material_number:
-                  title: Material Number
-                  type: integer
-                message:
-                  title: Message
-                  type: string
-                station_id:
-                  title: Station Id
-                  type: integer
-                success:
-                  title: Success
-                  type: boolean
-                unilabos_samples:
-                  items:
-                    $ref: '#/$defs/LabSample'
-                  title: Unilabos Samples
-                  type: array
-              required:
-              - success
-              - station_id
-              - material_id
-              - material_number
-              - message
-              - unilabos_samples
-              title: StartHeatingResult
-              type: object
-          required:
-          - goal
-          title: start_heating参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.virtual.workbench:VirtualWorkbench
-    status_types:
-      active_tasks_count: int
-      arm_current_task: str
-      arm_state: str
-      heating_station_1_material: str
-      heating_station_1_progress: float
-      heating_station_1_state: str
-      heating_station_2_material: str
-      heating_station_2_progress: float
-      heating_station_2_state: str
-      heating_station_3_material: str
-      heating_station_3_progress: float
-      heating_station_3_state: str
-      message: str
-      status: str
-    type: python
-  config_info: []
-  description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
-    material processing
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-        device_id:
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        active_tasks_count:
-          type: integer
-        arm_current_task:
-          type: string
-        arm_state:
-          type: string
-        heating_station_1_material:
-          type: string
-        heating_station_1_progress:
-          type: number
-        heating_station_1_state:
-          type: string
-        heating_station_2_material:
-          type: string
-        heating_station_2_progress:
-          type: number
-        heating_station_2_state:
-          type: string
-        heating_station_3_material:
-          type: string
-        heating_station_3_progress:
-          type: number
-        heating_station_3_state:
-          type: string
-        message:
-          type: string
-        status:
-          type: string
-      required:
-      - status
-      - arm_state
-      - arm_current_task
-      - heating_station_1_state
-      - heating_station_1_material
-      - heating_station_1_progress
-      - heating_station_2_state
-      - heating_station_2_material
-      - heating_station_2_progress
-      - heating_station_3_state
-      - heating_station_3_material
-      - heating_station_3_progress
-      - active_tasks_count
-      - message
-      type: object
-  version: 1.0.0

unilabos/registry/registry.py

@@ -4,9 +4,6 @@ import os
 import sys
 import inspect
 import importlib
-import threading
-import traceback
-from concurrent.futures import ThreadPoolExecutor, as_completed
 from pathlib import Path
 from typing import Any, Dict, List, Union, Tuple
 
@@ -63,7 +60,6 @@ class Registry:
         self.device_module_to_registry = {}
         self.resource_type_registry = {}
         self._setup_called = False  # 跟踪setup是否已调用
-        self._registry_lock = threading.Lock()  # 多线程加载时的锁
         # 其他状态变量
         # self.is_host_mode = False  # 移至BasicConfig中
 
@@ -75,28 +71,6 @@ class Registry:
 
         from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
 
-        # 获取 HostNode 类的增强信息，用于自动生成 action schema
-        host_node_enhanced_info = get_enhanced_class_info(
-            "unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
-        )
-
-        # 为 test_latency 生成 schema，保留原有 description
-        test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
-        test_latency_schema = self._generate_unilab_json_command_schema(
-            test_latency_method_info.get("args", []),
-            "test_latency",
-            test_latency_method_info.get("return_annotation"),
-        )
-        test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
-
-        test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {})
-        test_resource_schema = self._generate_unilab_json_command_schema(
-            test_resource_method_info.get("args", []),
-            "test_resource",
-            test_resource_method_info.get("return_annotation"),
-        )
-        test_resource_schema["description"] = "用于测试物料、设备和样本。"
-
         self.device_type_registry.update(
             {
                 "host_node": {
@@ -175,23 +149,18 @@ class Registry:
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
                                     "parent": "unilabos_nodes",  # 将当前实验室的设备/物料作为下拉框可选择
-                                    "class_name": "unilabos_class",  # 当前实验室物料的class name
-                                    "slot_on_deck": "unilabos_resource_slot:parent",  # 勾选的parent的config中的sites的name，展示name，参数对应slot（index）
+                                    "class_name": "unilabos_class",
                                 },
                             },
                             "test_latency": {
-                                "type": (
-                                    "UniLabJsonCommandAsync"
-                                    if test_latency_method_info.get("is_async", False)
-                                    else "UniLabJsonCommand"
-                                ),
+                                "type": self.EmptyIn,
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": test_latency_schema,
-                                "goal_default": {
-                                    arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
-                                },
+                                "schema": ros_action_to_json_schema(
+                                    self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
+                                ),
+                                "goal_default": {},
                                 "handles": {},
                             },
                             "auto-test_resource": {
@@ -199,7 +168,32 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": test_resource_schema,
+                                "schema": {
+                                    "description": "",
+                                    "properties": {
+                                        "feedback": {},
+                                        "goal": {
+                                            "properties": {
+                                                "resource": ros_message_to_json_schema(Resource, "resource"),
+                                                "resources": {
+                                                    "items": {
+                                                        "properties": ros_message_to_json_schema(
+                                                            Resource, "resources"
+                                                        ),
+                                                        "type": "object",
+                                                    },
+                                                    "type": "array",
+                                                },
+                                                "device": {"type": "string"},
+                                                "devices": {"items": {"type": "string"}, "type": "array"},
+                                            },
+                                            "type": "object",
+                                        },
+                                        "result": {},
+                                    },
+                                    "title": "test_resource",
+                                    "type": "object",
+                                },
                                 "placeholder_keys": {
                                     "device": "unilabos_devices",
                                     "devices": "unilabos_devices",
@@ -249,115 +243,67 @@ class Registry:
         # 标记setup已被调用
         self._setup_called = True
 
-    def _load_single_resource_file(
-        self, file: Path, complete_registry: bool, upload_registry: bool
-    ) -> Tuple[Dict[str, Any], Dict[str, Any], bool]:
-        """
-        加载单个资源文件 (线程安全)
-
-        Returns:
-            (data, complete_data, is_valid): 资源数据, 完整数据, 是否有效
-        """
-        try:
-            with open(file, encoding="utf-8", mode="r") as f:
-                data = yaml.safe_load(io.StringIO(f.read()))
-        except Exception as e:
-            logger.warning(f"[UniLab Registry] 读取资源文件失败: {file}, 错误: {e}")
-            return {}, {}, False
-
-        if not data:
-            return {}, {}, False
-
-        complete_data = {}
-        for resource_id, resource_info in data.items():
-            if "version" not in resource_info:
-                resource_info["version"] = "1.0.0"
-            if "category" not in resource_info:
-                resource_info["category"] = [file.stem]
-            elif file.stem not in resource_info["category"]:
-                resource_info["category"].append(file.stem)
-            elif not isinstance(resource_info.get("category"), list):
-                resource_info["category"] = [resource_info["category"]]
-            if "config_info" not in resource_info:
-                resource_info["config_info"] = []
-            if "icon" not in resource_info:
-                resource_info["icon"] = ""
-            if "handles" not in resource_info:
-                resource_info["handles"] = []
-            if "init_param_schema" not in resource_info:
-                resource_info["init_param_schema"] = {}
-            if "config_info" in resource_info:
-                del resource_info["config_info"]
-            if "file_path" in resource_info:
-                del resource_info["file_path"]
-            complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
-            if upload_registry:
-                class_info = resource_info.get("class", {})
-                if len(class_info) and "module" in class_info:
-                    if class_info.get("type") == "pylabrobot":
-                        res_class = get_class(class_info["module"])
-                        if callable(res_class) and not isinstance(res_class, type):
-                            res_instance = res_class(res_class.__name__)
-                            res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
-                            resource_info["config_info"] = res_ulr
-            resource_info["registry_type"] = "resource"
-            resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
-
-        complete_data = dict(sorted(complete_data.items()))
-        complete_data = copy.deepcopy(complete_data)
-
-        if complete_registry:
-            try:
-                with open(file, "w", encoding="utf-8") as f:
-                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
-            except Exception as e:
-                logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
-
-        return data, complete_data, True
-
     def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
-        logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
-
-        if not files:
-            return
-
-        # 使用线程池并行加载
-        max_workers = min(8, len(files))
-        results = []
-
-        with ThreadPoolExecutor(max_workers=max_workers) as executor:
-            future_to_file = {
-                executor.submit(self._load_single_resource_file, file, complete_registry, upload_registry): file
-                for file in files
-            }
-            for future in as_completed(future_to_file):
-                file = future_to_file[future]
-                try:
-                    data, complete_data, is_valid = future.result()
-                    if is_valid:
-                        results.append((file, data))
-                except Exception as e:
-                    logger.warning(f"[UniLab Registry] 处理资源文件异常: {file}, 错误: {e}")
-
-        # 线程安全地更新注册表
+        logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
         current_resource_number = len(self.resource_type_registry) + 1
-        with self._registry_lock:
-            for i, (file, data) in enumerate(results):
+        for i, file in enumerate(files):
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+            complete_data = {}
+            if data:
+                # 为每个资源添加文件路径信息
+                for resource_id, resource_info in data.items():
+                    if "version" not in resource_info:
+                        resource_info["version"] = "1.0.0"
+                    if "category" not in resource_info:
+                        resource_info["category"] = [file.stem]
+                    elif file.stem not in resource_info["category"]:
+                        resource_info["category"].append(file.stem)
+                    elif not isinstance(resource_info.get("category"), list):
+                        resource_info["category"] = [resource_info["category"]]
+                    if "config_info" not in resource_info:
+                        resource_info["config_info"] = []
+                    if "icon" not in resource_info:
+                        resource_info["icon"] = ""
+                    if "handles" not in resource_info:
+                        resource_info["handles"] = []
+                    if "init_param_schema" not in resource_info:
+                        resource_info["init_param_schema"] = {}
+                    if "config_info" in resource_info:
+                        del resource_info["config_info"]
+                    if "file_path" in resource_info:
+                        del resource_info["file_path"]
+                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
+                    if upload_registry:
+                        class_info = resource_info.get("class", {})
+                        if len(class_info) and "module" in class_info:
+                            if class_info.get("type") == "pylabrobot":
+                                res_class = get_class(class_info["module"])
+                                if callable(res_class) and not isinstance(
+                                    res_class, type
+                                ):  # 有的是类，有的是函数，这里暂时只登记函数类的
+                                    res_instance = res_class(res_class.__name__)
+                                    res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
+                                    resource_info["config_info"] = res_ulr
+                    resource_info["registry_type"] = "resource"
+                    resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
+                complete_data = dict(sorted(complete_data.items()))
+                complete_data = copy.deepcopy(complete_data)
+                if complete_registry:
+                    with open(file, "w", encoding="utf-8") as f:
+                        yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+
                 self.resource_type_registry.update(data)
-                logger.trace(
-                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
+                logger.trace(  # type: ignore
+                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
                     + f"Add {list(data.keys())}"
                 )
                 current_resource_number += 1
-
-        # 记录无效文件
-        valid_files = {r[0] for r in results}
-        for file in files:
-            if file not in valid_files:
-                logger.debug(f"[UniLab Registry] Res File Not Valid YAML File: {file.absolute()}")
+            else:
+                logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
 
     def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
         """
@@ -534,11 +480,7 @@ class Registry:
         return status_schema
 
     def _generate_unilab_json_command_schema(
-        self,
-        method_args: List[Dict[str, Any]],
-        method_name: str,
-        return_annotation: Any = None,
-        previous_schema: Dict[str, Any] | None = None,
+        self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
     ) -> Dict[str, Any]:
         """
         根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
@@ -547,7 +489,6 @@ class Registry:
             method_args: 方法信息字典，包含args等
             method_name: 方法名称
             return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
-            previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
 
         Returns:
             JSON Schema格式的参数schema
@@ -581,7 +522,7 @@ class Registry:
         if return_annotation is not None and self._is_typed_dict(return_annotation):
             result_schema = self._generate_typed_dict_result_schema(return_annotation)
 
-        final_schema = {
+        return {
             "title": f"{method_name}参数",
             "description": f"",
             "type": "object",
@@ -589,40 +530,6 @@ class Registry:
             "required": ["goal"],
         }
 
-        # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
-        if previous_schema:
-            self._preserve_field_descriptions(final_schema, previous_schema)
-
-        return final_schema
-
-    def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
-        """
-        保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
-
-        Args:
-            new_schema: 新生成的 schema（会被修改）
-            previous_schema: 之前的 schema
-        """
-        for section in ["goal", "feedback", "result"]:
-            new_section = new_schema.get("properties", {}).get(section, {})
-            prev_section = previous_schema.get("properties", {}).get(section, {})
-
-            if not new_section or not prev_section:
-                continue
-
-            new_props = new_section.get("properties", {})
-            prev_props = prev_section.get("properties", {})
-
-            for field_name, field_schema in new_props.items():
-                if field_name in prev_props:
-                    prev_field = prev_props[field_name]
-                    # 保留字段的 description
-                    if "description" in prev_field and prev_field["description"]:
-                        field_schema["description"] = prev_field["description"]
-                    # 保留字段的 title（用户自定义的中文名）
-                    if "title" in prev_field and prev_field["title"]:
-                        field_schema["title"] = prev_field["title"]
-
     def _is_typed_dict(self, annotation: Any) -> bool:
         """
         检查类型注解是否是TypedDict
@@ -709,246 +616,209 @@ class Registry:
                 "handles": {},
             }
 
-    def _load_single_device_file(
-        self, file: Path, complete_registry: bool, get_yaml_from_goal_type
-    ) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]:
-        """
-        加载单个设备文件 (线程安全)
-
-        Returns:
-            (data, complete_data, is_valid, device_ids): 设备数据, 完整数据, 是否有效, 设备ID列表
-        """
-        try:
-            with open(file, encoding="utf-8", mode="r") as f:
-                data = yaml.safe_load(io.StringIO(f.read()))
-        except Exception as e:
-            logger.warning(f"[UniLab Registry] 读取设备文件失败: {file}, 错误: {e}")
-            return {}, {}, False, []
-
-        if not data:
-            return {}, {}, False, []
-
-        complete_data = {}
-        action_str_type_mapping = {
-            "UniLabJsonCommand": "UniLabJsonCommand",
-            "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
-        }
-        status_str_type_mapping = {}
-        device_ids = []
-
-        for device_id, device_config in data.items():
-            if "version" not in device_config:
-                device_config["version"] = "1.0.0"
-            if "category" not in device_config:
-                device_config["category"] = [file.stem]
-            elif file.stem not in device_config["category"]:
-                device_config["category"].append(file.stem)
-            if "config_info" not in device_config:
-                device_config["config_info"] = []
-            if "description" not in device_config:
-                device_config["description"] = ""
-            if "icon" not in device_config:
-                device_config["icon"] = ""
-            if "handles" not in device_config:
-                device_config["handles"] = []
-            if "init_param_schema" not in device_config:
-                device_config["init_param_schema"] = {}
-            if "class" in device_config:
-                if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
-                    device_config["class"]["status_types"] = {}
-                if (
-                    "action_value_mappings" not in device_config["class"]
-                    or device_config["class"]["action_value_mappings"] is None
-                ):
-                    device_config["class"]["action_value_mappings"] = {}
-                enhanced_info = {}
-                if complete_registry:
-                    device_config["class"]["status_types"].clear()
-                    enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
-                    if not enhanced_info.get("dynamic_import_success", False):
-                        continue
-                    device_config["class"]["status_types"].update(
-                        {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
-                    )
-                for status_name, status_type in device_config["class"]["status_types"].items():
-                    if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
-                        status_type = "String"
-                        device_config["class"]["status_types"][status_name] = status_type
-                    try:
-                        target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
-                    except ROSMsgNotFound:
-                        continue
-                    if target_type in [dict, list]:
-                        target_type = String
-                    status_str_type_mapping[status_type] = target_type
-                device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
-                if complete_registry:
-                    old_action_configs = {}
-                    for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                        old_action_configs[action_name] = action_config
-
-                    device_config["class"]["action_value_mappings"] = {
-                        k: v
-                        for k, v in device_config["class"]["action_value_mappings"].items()
-                        if not k.startswith("auto-")
-                    }
-                    device_config["class"]["action_value_mappings"].update(
-                        {
-                            f"auto-{k}": {
-                                "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
-                                "goal": {},
-                                "feedback": {},
-                                "result": {},
-                                "schema": self._generate_unilab_json_command_schema(
-                                    v["args"],
-                                    k,
-                                    v.get("return_annotation"),
-                                    old_action_configs.get(f"auto-{k}", {}).get("schema"),
-                                ),
-                                "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
-                                "placeholder_keys": {
-                                    i["name"]: (
-                                        "unilabos_resources"
-                                        if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
-                                        or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
-                                        else "unilabos_devices"
-                                    )
-                                    for i in v["args"]
-                                    if i.get("type", "")
-                                    in [
-                                        "unilabos.registry.placeholder_type:ResourceSlot",
-                                        "unilabos.registry.placeholder_type:DeviceSlot",
-                                        ("list", "unilabos.registry.placeholder_type:ResourceSlot"),
-                                        ("list", "unilabos.registry.placeholder_type:DeviceSlot"),
-                                    ]
-                                },
-                                **({"always_free": True} if v.get("always_free") else {}),
-                            }
-                            for k, v in enhanced_info["action_methods"].items()
-                            if k not in device_config["class"]["action_value_mappings"]
-                        }
-                    )
-                    for action_name, old_config in old_action_configs.items():
-                        if action_name in device_config["class"]["action_value_mappings"]:
-                            old_schema = old_config.get("schema", {})
-                            if "description" in old_schema and old_schema["description"]:
-                                device_config["class"]["action_value_mappings"][action_name]["schema"][
-                                    "description"
-                                ] = old_schema["description"]
-                    device_config["init_param_schema"] = {}
-                    device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
-                        enhanced_info["init_params"], "__init__"
-                    )["properties"]["goal"]
-                    device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
-                        enhanced_info["status_methods"]
-                    )
-
-                device_config.pop("schema", None)
-                device_config["class"]["action_value_mappings"] = dict(
-                    sorted(device_config["class"]["action_value_mappings"].items())
-                )
-                for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                    if "handles" not in action_config:
-                        action_config["handles"] = {}
-                    elif isinstance(action_config["handles"], list):
-                        if len(action_config["handles"]):
-                            logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
-                            continue
-                        else:
-                            action_config["handles"] = {}
-                    if "type" in action_config:
-                        action_type_str: str = action_config["type"]
-                        if not action_type_str.startswith("UniLabJsonCommand"):
-                            try:
-                                target_type = self._replace_type_with_class(
-                                    action_type_str, device_id, f"动作 {action_name}"
-                                )
-                            except ROSMsgNotFound:
-                                continue
-                            action_str_type_mapping[action_type_str] = target_type
-                            if target_type is not None:
-                                action_config["goal_default"] = yaml.safe_load(
-                                    io.StringIO(get_yaml_from_goal_type(target_type.Goal))
-                                )
-                                action_config["schema"] = ros_action_to_json_schema(target_type)
-                            else:
-                                logger.warning(
-                                    f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
-                                )
-                complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))
-                for status_name, status_type in device_config["class"]["status_types"].items():
-                    device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
-                for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                    if action_config["type"] not in action_str_type_mapping:
-                        continue
-                    action_config["type"] = action_str_type_mapping[action_config["type"]]
-                self._add_builtin_actions(device_config, device_id)
-            device_config["file_path"] = str(file.absolute()).replace("\\", "/")
-            device_config["registry_type"] = "device"
-            device_ids.append(device_id)
-
-        complete_data = dict(sorted(complete_data.items()))
-        complete_data = copy.deepcopy(complete_data)
-        try:
-            with open(file, "w", encoding="utf-8") as f:
-                yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
-        except Exception as e:
-            logger.warning(f"[UniLab Registry] 写入设备文件失败: {file}, 错误: {e}")
-
-        return data, complete_data, True, device_ids
-
     def load_device_types(self, path: os.PathLike, complete_registry: bool):
+        # return
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
         files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
-        logger.trace(
+        logger.trace(  # type: ignore
             f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
             + f"total: {len(files)}"
         )
-
-        if not files:
-            return
-
+        current_device_number = len(self.device_type_registry) + 1
         from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
 
-        # 使用线程池并行加载
-        max_workers = min(8, len(files))
-        results = []
-
-        with ThreadPoolExecutor(max_workers=max_workers) as executor:
-            future_to_file = {
-                executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
-                for file in files
+        for i, file in enumerate(files):
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+            complete_data = {}
+            action_str_type_mapping = {
+                "UniLabJsonCommand": "UniLabJsonCommand",
+                "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
             }
-            for future in as_completed(future_to_file):
-                file = future_to_file[future]
-                try:
-                    data, complete_data, is_valid, device_ids = future.result()
-                    if is_valid:
-                        results.append((file, data, device_ids))
-                except Exception as e:
-                    traceback.print_exc()
-                    logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
+            status_str_type_mapping = {}
+            if data:
+                # 在添加到注册表前处理类型替换
+                for device_id, device_config in data.items():
+                    # 添加文件路径信息 - 使用规范化的完整文件路径
+                    if "version" not in device_config:
+                        device_config["version"] = "1.0.0"
+                    if "category" not in device_config:
+                        device_config["category"] = [file.stem]
+                    elif file.stem not in device_config["category"]:
+                        device_config["category"].append(file.stem)
+                    if "config_info" not in device_config:
+                        device_config["config_info"] = []
+                    if "description" not in device_config:
+                        device_config["description"] = ""
+                    if "icon" not in device_config:
+                        device_config["icon"] = ""
+                    if "handles" not in device_config:
+                        device_config["handles"] = []
+                    if "init_param_schema" not in device_config:
+                        device_config["init_param_schema"] = {}
+                    if "class" in device_config:
+                        if (
+                            "status_types" not in device_config["class"]
+                            or device_config["class"]["status_types"] is None
+                        ):
+                            device_config["class"]["status_types"] = {}
+                        if (
+                            "action_value_mappings" not in device_config["class"]
+                            or device_config["class"]["action_value_mappings"] is None
+                        ):
+                            device_config["class"]["action_value_mappings"] = {}
+                        enhanced_info = {}
+                        if complete_registry:
+                            device_config["class"]["status_types"].clear()
+                            enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
+                            if not enhanced_info.get("dynamic_import_success", False):
+                                continue
+                            device_config["class"]["status_types"].update(
+                                {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
+                            )
+                        for status_name, status_type in device_config["class"]["status_types"].items():
+                            if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
+                                status_type = "String"  # 替换成ROS的String，便于显示
+                                device_config["class"]["status_types"][status_name] = status_type
+                            try:
+                                target_type = self._replace_type_with_class(
+                                    status_type, device_id, f"状态 {status_name}"
+                                )
+                            except ROSMsgNotFound:
+                                continue
+                            if target_type in [
+                                dict,
+                                list,
+                            ]:  # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
+                                target_type = String
+                            status_str_type_mapping[status_type] = target_type
+                        device_config["class"]["status_types"] = dict(
+                            sorted(device_config["class"]["status_types"].items())
+                        )
+                        if complete_registry:
+                            # 保存原有的description信息
+                            old_descriptions = {}
+                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                if "description" in action_config.get("schema", {}):
+                                    description = action_config["schema"]["description"]
+                                    if len(description):
+                                        old_descriptions[action_name] = action_config["schema"]["description"]
 
-        # 线程安全地更新注册表
-        current_device_number = len(self.device_type_registry) + 1
-        with self._registry_lock:
-            for file, data, device_ids in results:
-                self.device_type_registry.update(data)
-                for device_id in device_ids:
-                    logger.trace(
-                        f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
+                            device_config["class"]["action_value_mappings"] = {
+                                k: v
+                                for k, v in device_config["class"]["action_value_mappings"].items()
+                                if not k.startswith("auto-")
+                            }
+                            # 处理动作值映射
+                            device_config["class"]["action_value_mappings"].update(
+                                {
+                                    f"auto-{k}": {
+                                        "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
+                                        "goal": {},
+                                        "feedback": {},
+                                        "result": {},
+                                        "schema": self._generate_unilab_json_command_schema(
+                                            v["args"], k, v.get("return_annotation")
+                                        ),
+                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                        "handles": [],
+                                        "placeholder_keys": {
+                                            i["name"]: (
+                                                "unilabos_resources"
+                                                if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
+                                                or i["type"]
+                                                == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
+                                                else "unilabos_devices"
+                                            )
+                                            for i in v["args"]
+                                            if i.get("type", "")
+                                            in [
+                                                "unilabos.registry.placeholder_type:ResourceSlot",
+                                                "unilabos.registry.placeholder_type:DeviceSlot",
+                                                ("list", "unilabos.registry.placeholder_type:ResourceSlot"),
+                                                ("list", "unilabos.registry.placeholder_type:DeviceSlot"),
+                                            ]
+                                        },
+                                    }
+                                    # 不生成已配置action的动作
+                                    for k, v in enhanced_info["action_methods"].items()
+                                    if k not in device_config["class"]["action_value_mappings"]
+                                }
+                            )
+                            # 恢复原有的description信息（auto开头的不修改）
+                            for action_name, description in old_descriptions.items():
+                                if action_name in device_config["class"]["action_value_mappings"]:  # 有一些会被删除
+                                    device_config["class"]["action_value_mappings"][action_name]["schema"][
+                                        "description"
+                                    ] = description
+                            device_config["init_param_schema"] = {}
+                            device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
+                                enhanced_info["init_params"], "__init__"
+                            )["properties"]["goal"]
+                            device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
+                                enhanced_info["status_methods"]
+                            )
+
+                        device_config.pop("schema", None)
+                        device_config["class"]["action_value_mappings"] = dict(
+                            sorted(device_config["class"]["action_value_mappings"].items())
+                        )
+                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            if "handles" not in action_config:
+                                action_config["handles"] = {}
+                            elif isinstance(action_config["handles"], list):
+                                if len(action_config["handles"]):
+                                    logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
+                                    continue
+                                else:
+                                    action_config["handles"] = {}
+                            if "type" in action_config:
+                                action_type_str: str = action_config["type"]
+                                # 通过Json发放指令，而不是通过特殊的ros action进行处理
+                                if not action_type_str.startswith("UniLabJsonCommand"):
+                                    try:
+                                        target_type = self._replace_type_with_class(
+                                            action_type_str, device_id, f"动作 {action_name}"
+                                        )
+                                    except ROSMsgNotFound:
+                                        continue
+                                    action_str_type_mapping[action_type_str] = target_type
+                                    if target_type is not None:
+                                        action_config["goal_default"] = yaml.safe_load(
+                                            io.StringIO(get_yaml_from_goal_type(target_type.Goal))
+                                        )
+                                        action_config["schema"] = ros_action_to_json_schema(target_type)
+                                    else:
+                                        logger.warning(
+                                            f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
+                                        )
+                        complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))  # 稍后dump到文件
+                        for status_name, status_type in device_config["class"]["status_types"].items():
+                            device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
+                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            if action_config["type"] not in action_str_type_mapping:
+                                continue
+                            action_config["type"] = action_str_type_mapping[action_config["type"]]
+                        # 添加内置的驱动命令动作
+                        self._add_builtin_actions(device_config, device_id)
+                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
+                    device_config["registry_type"] = "device"
+                    logger.trace(  # type: ignore
+                        f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )
                     current_device_number += 1
-
-        # 记录无效文件
-        valid_files = {r[0] for r in results}
-        for file in files:
-            if file not in valid_files:
-                logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
+                complete_data = dict(sorted(complete_data.items()))
+                complete_data = copy.deepcopy(complete_data)
+                with open(file, "w", encoding="utf-8") as f:
+                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+                self.device_type_registry.update(data)
+            else:
+                logger.debug(
+                    f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
+                )
 
     def obtain_registry_device_info(self):
         devices = []

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

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

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

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
-
-    注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
+    """创建4×6枪头盒 (24个枪头)
 
     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 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)
+    from pylabrobot.resources import Container, Coordinate
+
+    # 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(

unilabos/resources/container.py

@@ -1,6 +1,10 @@
+import json
 from typing import Dict, Any
 
 from pylabrobot.resources import Container
+from unilabos_msgs.msg import Resource
+
+from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
 class RegularContainer(Container):
@@ -12,12 +16,12 @@ class RegularContainer(Container):
             kwargs["size_y"] = 0
         if "size_z" not in kwargs:
             kwargs["size_z"] = 0
-
         self.kwargs = kwargs
+        self.state = {}
         super().__init__(*args, category="container", **kwargs)
 
     def load_state(self, state: Dict[str, Any]):
-        super().load_state(state)
+        self.state = state
 
 
 def get_regular_container(name="container"):
@@ -25,6 +29,7 @@ def get_regular_container(name="container"):
     r.category = "container"
     return r
 
+#
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入
 #     # noinspection PyShadowingBuiltins
@@ -84,4 +89,4 @@ def get_regular_container(name="container"):
 #         return to_dict
 #
 #     def __str__(self):
-#         return f"{self.id}"
+#         return f"{self.id}"

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"]:
                 v = node.pop(k)
                 node["config"][k] = v
     if outer_host_node_id is not None:
@@ -151,40 +151,12 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
     """
     # 构建 id 到 uuid 的映射
     id_to_uuid: Dict[str, str] = {}
-    uuid_to_id: Dict[str, str] = {}
     for node in resource_tree_set.all_nodes:
         id_to_uuid[node.res_content.id] = node.res_content.uuid
-        uuid_to_id[node.res_content.uuid] = node.res_content.id
-
-    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
-    for link in links:
-        source_id = link.get("source")
-        target_id = link.get("target")
-
-        # 添加 source_uuid
-        if source_id and source_id in id_to_uuid:
-            link["source_uuid"] = id_to_uuid[source_id]
-
-        # 添加 target_uuid
-        if target_id and target_id in id_to_uuid:
-            link["target_uuid"] = id_to_uuid[target_id]
-
-        source_uuid = link.get("source_uuid")
-        target_uuid = link.get("target_uuid")
-
-        # 添加 source_uuid
-        if source_uuid and source_uuid in uuid_to_id:
-            link["source"] = uuid_to_id[source_uuid]
-
-        # 添加 target_uuid
-        if target_uuid and target_uuid in uuid_to_id:
-            link["target"] = uuid_to_id[target_uuid]
 
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in links:
         port = link.get("port")
-        if port is None:
-            continue
         if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
         if isinstance(port, int):
@@ -207,15 +179,13 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
             link["port"] = {link["source"]: None, link["target"]: None}
 
     # 构建边字典，键为(source节点, target节点)，值为对应的port信息
-    edges = {(link["source"], link["target"]): link["port"] for link in links if link.get("port")}
+    edges = {(link["source"], link["target"]): link["port"] for link in links}
 
     # 第二遍处理：填充反向边的dest信息
     delete_reverses = []
     for i, link in enumerate(links):
         s, t = link["source"], link["target"]
-        current_port = link.get("port")
-        if current_port is None:
-            continue
+        current_port = link["port"]
         if current_port.get(t) is None:
             reverse_key = (t, s)
             reverse_port = edges.get(reverse_key)
@@ -230,6 +200,20 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
                 current_port[t] = current_port[s]
     # 删除已被使用反向端口信息的反向边
     standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
+
+    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
+    for link in standardized_links:
+        source_id = link.get("source")
+        target_id = link.get("target")
+
+        # 添加 source_uuid
+        if source_id and source_id in id_to_uuid:
+            link["source_uuid"] = id_to_uuid[source_id]
+
+        # 添加 target_uuid
+        if target_id and target_id in id_to_uuid:
+            link["target_uuid"] = id_to_uuid[target_id]
+
     return standardized_links
 
 
@@ -276,7 +260,7 @@ def read_node_link_json(
     resource_tree_set = canonicalize_nodes_data(nodes)
 
     # 标准化边数据
-    links = data.get("links", data.get("edges", []))
+    links = data.get("links", [])
     standardized_links = canonicalize_links_ports(links, resource_tree_set)
 
     # 构建 NetworkX 图（需要转换回 dict 格式）
@@ -300,8 +284,6 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["sourceHandle"] = port[source]
         elif "source_port" in edge:
             edge["sourceHandle"] = edge.pop("source_port")
-        elif "source_handle" in edge:
-            edge["sourceHandle"] = edge.pop("source_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -310,8 +292,6 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
-        elif "target_handle" in edge:
-            edge["targetHandle"] = edge.pop("target_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -617,8 +597,6 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tube": "tube",
             "bottle_carrier": "bottle_carrier",
             "plate_adapter": "plate_adapter",
-            "electrode_sheet": "electrode_sheet",
-            "material_hole": "material_hole",
         }
         if source in replace_info:
             return replace_info[source]
@@ -779,12 +757,9 @@ 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）
-                    # ResourceHolder 等不支持液体追踪的容器跳过
-                    if hasattr(bottle, "tracker"):
-                        bottle.tracker.liquids = [
-                            (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
-                        ]
+                    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 +768,9 @@ 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
-                if hasattr(bottle, "tracker"):
-                    bottle.tracker.liquids = [
-                        (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 +799,24 @@ 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 +824,15 @@ 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)"]:

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,
-    )

unilabos/resources/resource_tracker.py

@@ -5,8 +5,6 @@ from pydantic import BaseModel, field_serializer, field_validator, ValidationErr
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
-from typing_extensions import TypedDict
-
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
@@ -15,76 +13,24 @@ if TYPE_CHECKING:
     from pylabrobot.resources import Resource as PLRResource
 
 
-EXTRA_CLASS = "unilabos_resource_class"
-FRONTEND_POSE_EXTRA = "unilabos_frontend_pose_extra"
-EXTRA_SAMPLE_UUID = "sample_uuid"
-EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
-
-# 函数参数名常量 - 用于自动注入 sample_uuids 列表
-PARAM_SAMPLE_UUIDS = "sample_uuids"
-
-# JSON Command 中的系统参数字段名
-JSON_UNILABOS_PARAM = "unilabos_param"
-
-# 返回值中的 samples 字段名
-RETURN_UNILABOS_SAMPLES = "unilabos_samples"
-
-# sample_uuids 参数类型 (用于 virtual bench 等设备添加 sample_uuids 参数)
-SampleUUIDsType = Dict[str, Optional["PLRResource"]]
-
-
-class LabSample(TypedDict):
-    sample_uuid: str
-    oss_path: str
-    extra: Dict[str, Any]
-
-
-class ResourceDictPositionSizeType(TypedDict):
-    depth: float
-    width: float
-    height: float
-
-
 class ResourceDictPositionSize(BaseModel):
     depth: float = Field(description="Depth", default=0.0)  # z
     width: float = Field(description="Width", default=0.0)  # x
     height: float = Field(description="Height", default=0.0)  # y
 
 
-class ResourceDictPositionScaleType(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
 class ResourceDictPositionScale(BaseModel):
     x: float = Field(description="x scale", default=0.0)
     y: float = Field(description="y scale", default=0.0)
     z: float = Field(description="z scale", default=0.0)
 
 
-class ResourceDictPositionObjectType(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
 class ResourceDictPositionObject(BaseModel):
     x: float = Field(description="X coordinate", default=0.0)
     y: float = Field(description="Y coordinate", default=0.0)
     z: float = Field(description="Z coordinate", default=0.0)
 
 
-class ResourceDictPositionType(TypedDict):
-    size: ResourceDictPositionSizeType
-    scale: ResourceDictPositionScaleType
-    layout: Literal["2d", "x-y", "z-y", "x-z"]
-    position: ResourceDictPositionObjectType
-    position3d: ResourceDictPositionObjectType
-    rotation: ResourceDictPositionObjectType
-    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"]
-
-
 class ResourceDictPosition(BaseModel):
     size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
     scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
@@ -101,25 +47,6 @@ class ResourceDictPosition(BaseModel):
     cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
         description="Cross section type", default="rectangle"
     )
-    extra: Optional[Dict[str, Any]] = Field(description="Extra data", default=None)
-
-
-class ResourceDictType(TypedDict):
-    id: str
-    uuid: str
-    name: str
-    description: str
-    resource_schema: Dict[str, Any]
-    model: Dict[str, Any]
-    icon: str
-    parent_uuid: Optional[str]
-    parent: Optional["ResourceDictType"]
-    type: Union[Literal["device"], str]
-    klass: str
-    pose: ResourceDictPositionType
-    config: Dict[str, Any]
-    data: Dict[str, Any]
-    extra: Dict[str, Any]
 
 
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -411,18 +338,8 @@ 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",
-                "container": "container",
-                "material_plate": "material_plate",
-                "electrode_sheet": "electrode_sheet",
-                "warehouse": "warehouse",
-                "magazine_holder": "magazine_holder",
-                "resource_group": "resource_group",
-                "trash": "trash",
-                "plate_adapter": "plate_adapter",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -466,7 +383,6 @@ class ResourceTreeSet(object):
                 "position3d": raw_pos,
                 "rotation": d["rotation"],
                 "cross_section_type": d.get("cross_section_type", "rectangle"),
-                "extra": extra.get(FRONTEND_POSE_EXTRA)
             }
 
             # 先构建当前节点的字典（不包含children）
@@ -477,7 +393,7 @@ class ResourceTreeSet(object):
                 "parent": parent_resource,  # 直接传入 ResourceDict 对象
                 "parent_uuid": parent_uuid,  # 使用 parent_uuid 而不是 parent 对象
                 "type": replace_plr_type(d.get("category", "")),
-                "class": extra.get(EXTRA_CLASS, ""),
+                "class": d.get("class", ""),
                 "position": pos,
                 "pose": pos,
                 "config": {
@@ -527,7 +443,7 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
+    def to_plr_resources(self) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
@@ -552,8 +468,6 @@ class ResourceTreeSet(object):
             name_to_uuid[node.res_content.name] = node.res_content.uuid
             all_states[node.res_content.name] = node.res_content.data
             name_to_extra[node.res_content.name] = node.res_content.extra
-            name_to_extra[node.res_content.name][FRONTEND_POSE_EXTRA] = node.res_content.pose.extra
-            name_to_extra[node.res_content.name][EXTRA_CLASS] = node.res_content.klass
             for child in node.children:
                 collect_node_data(child, name_to_uuid, all_states, name_to_extra)
 
@@ -598,10 +512,7 @@ class ResourceTreeSet(object):
             plr_dict = node_to_plr_dict(tree.root_node, has_model)
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
-                if skip_devices and plr_dict["type"] == "device":
-                    logger.info(f"跳过更新 {plr_dict['name']} 设备是class")
-                    continue
-                elif sub_cls is None:
+                if sub_cls is None:
                     raise ValueError(
                         f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
                     )
@@ -609,11 +520,6 @@ class ResourceTreeSet(object):
                 if "category" not in spec.parameters:
                     plr_dict.pop("category", None)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
-                from pylabrobot.resources import Coordinate
-                from pylabrobot.serializer import deserialize
-
-                location = cast(Coordinate, deserialize(plr_dict["location"]))
-                plr_resource.location = location
                 plr_resource.load_all_state(all_states)
                 # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
                 tracker.loop_set_uuid(plr_resource, name_to_uuid)
@@ -621,7 +527,7 @@ class ResourceTreeSet(object):
                 plr_resources.append(plr_resource)
 
             except Exception as e:
-                logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
+                logger.error(f"转换 PLR 资源失败: {e}")
                 import traceback
 
                 logger.error(f"堆栈: {traceback.format_exc()}")
@@ -841,27 +747,14 @@ class ResourceTreeSet(object):
                                 f"从远端同步了 {added_count} 个物料子树"
                             )
                     else:
-                        # 二级物料已存在，比较三级子节点是否缺失
-                        local_material = local_children_map[remote_child_name]
-                        local_material_children_map = {child.res_content.name: child for child in
-                                                       local_material.children}
-                        added_count = 0
-                        for remote_sub in remote_child.children:
-                            remote_sub_name = remote_sub.res_content.name
-                            if remote_sub_name not in local_material_children_map:
-                                remote_sub.res_content.parent = local_material.res_content
-                                local_material.children.append(remote_sub)
-                                added_count += 1
-                            else:
-                                logger.info(
-                                    f"物料 '{remote_root_id}/{remote_child_name}/{remote_sub_name}' "
-                                    f"已存在，跳过"
-                                )
-                        if added_count > 0:
-                            logger.info(
-                                f"物料 '{remote_root_id}/{remote_child_name}': "
-                                f"从远端同步了 {added_count} 个子物料"
-                            )
+                        # 情况2: 二级是物料（不是 device）
+                        if remote_child_name not in local_children_map:
+                            # 引入整个子树
+                            remote_child.res_content.parent = local_device.res_content
+                            local_device.children.append(remote_child)
+                            logger.info(f"Device '{remote_root_id}': 从远端同步物料子树 '{remote_child_name}'")
+                        else:
+                            logger.info(f"物料 '{remote_root_id}/{remote_child_name}' 已存在，跳过")
             else:
                 # 情况1: 一级节点是物料（不是 device）
                 # 检查是否已存在
@@ -1093,7 +986,7 @@ class DeviceNodeResourceTracker(object):
                 extra = name_to_extra_map[resource_name]
                 self.set_resource_extra(res, extra)
                 if len(extra):
-                    logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
+                    logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
                 return 1
             return 0
 

unilabos/ros/device_node_wrapper.py

@@ -44,7 +44,8 @@ def ros2_device_node(
     # 从属性中自动发现可发布状态
     if status_types is None:
         status_types = {}
-    assert device_config is not None, "device_config cannot be None"
+    if device_config is None:
+        raise ValueError("device_config cannot be None")
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:

unilabos/ros/msgs/message_converter.py

@@ -770,16 +770,13 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
     return schema
 
 
-def ros_action_to_json_schema(
-    action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
-) -> Dict[str, Any]:
+def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
     """
     将 ROS Action 类转换为 JSON Schema
 
     Args:
         action_class: ROS Action 类
         description: 描述
-        previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
 
     Returns:
         完整的 JSON Schema 定义
@@ -813,44 +810,9 @@ def ros_action_to_json_schema(
         "required": ["goal"],
     }
 
-    # 保留之前 schema 中 goal/feedback/result 下一级字段的 description
-    if previous_schema:
-        _preserve_field_descriptions(schema, previous_schema)
-
     return schema
 
 
-def _preserve_field_descriptions(
-    new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
-) -> None:
-    """
-    保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
-
-    Args:
-        new_schema: 新生成的 schema（会被修改）
-        previous_schema: 之前的 schema
-    """
-    for section in ["goal", "feedback", "result"]:
-        new_section = new_schema.get("properties", {}).get(section, {})
-        prev_section = previous_schema.get("properties", {}).get(section, {})
-
-        if not new_section or not prev_section:
-            continue
-
-        new_props = new_section.get("properties", {})
-        prev_props = prev_section.get("properties", {})
-
-        for field_name, field_schema in new_props.items():
-            if field_name in prev_props:
-                prev_field = prev_props[field_name]
-                # 保留字段的 description
-                if "description" in prev_field and prev_field["description"]:
-                    field_schema["description"] = prev_field["description"]
-                # 保留字段的 title（用户自定义的中文名）
-                if "title" in prev_field and prev_field["title"]:
-                    field_schema["title"] = prev_field["title"]
-
-
 def convert_ros_action_to_jsonschema(
     action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
 ) -> Dict[str, Any]:

unilabos/ros/nodes/base_device_node.py

@@ -4,20 +4,8 @@ import json
 import threading
 import time
 import traceback
-from typing import (
-    get_type_hints,
-    TypeVar,
-    Generic,
-    Dict,
-    Any,
-    Type,
-    TypedDict,
-    Optional,
-    List,
-    TYPE_CHECKING,
-    Union,
-    Tuple,
-)
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
+    Tuple
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -60,10 +48,8 @@ from unilabos.resources.resource_tracker import (
     ResourceTreeSet,
     ResourceTreeInstance,
     ResourceDictInstance,
-    EXTRA_SAMPLE_UUID,
-    PARAM_SAMPLE_UUIDS,
-    JSON_UNILABOS_PARAM,
 )
+from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
@@ -146,7 +132,7 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: ResourceDictInstance,
+    device_config: ResourceTreeInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -199,7 +185,7 @@ class PropertyPublisher:
                 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()}"
             )
         self.timer = node.create_timer(self.timer_period, self.publish_property)
-        self.__loop = ROS2DeviceNode.get_asyncio_loop()
+        self.__loop = get_event_loop()
         str_msg_type = str(msg_type)[8:-2]
         self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
 
@@ -231,15 +217,14 @@ class PropertyPublisher:
 
     def publish_property(self):
         try:
-            # self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
+            self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
             value = self.get_property()
             if self.print_publish:
-                pass
-                # self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
+                self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
-                # self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
+                self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
             self.node.lab_logger().error(
                 f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
@@ -279,7 +264,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         self,
         driver_instance: T,
         device_id: str,
-        registry_name: str,
         device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -301,7 +285,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """
         self.driver_instance = driver_instance
         self.device_id = device_id
-        self.registry_name = registry_name
         self.uuid = device_uuid
         self.publish_high_frequency = False
         self.callback_group = ReentrantCallbackGroup()
@@ -379,7 +362,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             from pylabrobot.resources.deck import Deck
             from pylabrobot.resources import Coordinate
             from pylabrobot.resources import Plate
-
             # 物料传输到对应的node节点
             client = self._resource_clients["c2s_update_resource_tree"]
             request = SerialCommand.Request()
@@ -407,29 +389,33 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
             parent_resource = None
             if bind_parent_id != self.node_name:
-                parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
+                parent_resource = self.resource_tracker.figure_resource(
+                    {"name": bind_parent_id}
+                )
                 for r in rts.root_nodes:
                     # noinspection PyUnresolvedReferences
                     r.res_content.parent_uuid = parent_resource.unilabos_uuid
             else:
                 for r in rts.root_nodes:
                     r.res_content.parent_uuid = self.uuid
-            rts_plr_instances = rts.to_plr_resources()
-            if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
+
+            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
                 # noinspection PyTypeChecker
-                container_instance: RegularContainer = rts_plr_instances[0]
+                container_instance: RegularContainer = rts.root_nodes[0]
                 found_resources = self.resource_tracker.figure_resource(
-                    {"name": container_instance.name}, try_mode=True
+                    {"id": container_instance.name}, try_mode=True
                 )
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_instance.name}到资源跟踪器")
                 else:
-                    assert len(found_resources) == 1, f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
+                    assert (
+                        len(found_resources) == 1
+                    ), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
                     found_resource = found_resources[0]
                     if isinstance(found_resource, RegularContainer):
                         logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
-                        found_resource.state.update(container_instance.state)
+                        found_resource.state.update(json.loads(container_instance.state))
                     elif isinstance(found_resource, dict):
                         raise ValueError("已不支持 字典 版本的RegularContainer")
                     else:
@@ -437,16 +423,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
                         )
             # noinspection PyUnresolvedReferences
-            request.command = json.dumps(
-                {
-                    "action": "add",
-                    "data": {
-                        "data": rts.dump(),
-                        "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
-                        "first_add": False,
-                    },
-                }
-            )
+            request.command = json.dumps({
+                "action": "add",
+                "data": {
+                    "data": rts.dump(),
+                    "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
+                    "first_add": False,
+                },
+            })
             tree_response: SerialCommand.Response = await client.call_async(request)
             uuid_maps = json.loads(tree_response.response)
             plr_instances = rts.to_plr_resources()
@@ -460,7 +444,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
             res.response = json.dumps(final_response)
             # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
-            if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node":
+            if hasattr(self.driver_instance, "create_resource"):
                 create_resource_func = getattr(self.driver_instance, "create_resource")
                 try:
                     ret = create_resource_func(
@@ -488,9 +472,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
                             ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
                             LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
-                            self.lab_logger().warning(
-                                f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
-                            )
+                            self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
                         for liquid_type, liquid_volume, liquid_input_slot in zip(
                             ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
                         ):
@@ -509,15 +491,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             input_wells = []
                             for r in LIQUID_INPUT_SLOT:
                                 input_wells.append(plr_instance.children[r])
-                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
-                            input_wells
-                        ).dump()
+                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
                         res.response = json.dumps(final_response)
-                    if (
-                        issubclass(parent_resource.__class__, Deck)
-                        and hasattr(parent_resource, "assign_child_at_slot")
-                        and "slot" in other_calling_param
-                    ):
+                    if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
                         other_calling_param["slot"] = int(other_calling_param["slot"])
                         parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
@@ -532,16 +508,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
                     if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
                         rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
-                    request.command = json.dumps(
-                        {
-                            "action": "add",
-                            "data": {
-                                "data": rts_with_parent.dump(),
-                                "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
-                                "first_add": False,
-                            },
-                        }
-                    )
+                    request.command = json.dumps({
+                        "action": "add",
+                        "data": {
+                            "data": rts_with_parent.dump(),
+                            "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
+                            "first_add": False,
+                        },
+                    })
                     tree_response: SerialCommand.Response = await client.call_async(request)
                     uuid_maps = json.loads(tree_response.response)
                     self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
@@ -838,9 +812,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
 
         def _handle_update(
-            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
-            tree_set: ResourceTreeSet,
-            additional_add_params: Dict[str, Any],
+            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
         ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
             """
             处理资源更新操作的内部函数
@@ -865,10 +837,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 original_parent_resource = original_instance.parent
                 original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
                 target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
-                not_same_parent = (
-                    original_parent_resource_uuid != target_parent_resource_uuid
-                    and original_parent_resource is not None
-                )
+                not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None
                 old_name = original_instance.name
                 new_name = plr_resource.name
                 parent_appended = False
@@ -904,35 +873,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 else:
                     # 判断是否变更了resource_site，重新登记
                     target_site = original_instance.unilabos_extra.get("update_resource_site")
-                    sites = (
-                        original_instance.parent.sites
-                        if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
-                        else None
-                    )
-                    site_names = (
-                        list(original_instance.parent._ordering.keys())
-                        if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
-                        else []
-                    )
+                    sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
+                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
                     if target_site is not None and sites is not None and site_names is not None:
-                        site_index = None
-                        try:
-                            # sites 可能是 Resource 列表或 dict 列表 (如 PRCXI9300Deck)
-                            # 只有itemized_carrier在使用，准备弃用
-                            site_index = sites.index(original_instance)
-                        except ValueError:
-                            # dict 类型的 sites: 通过name匹配
-                            for idx, site in enumerate(sites):
-                                if original_instance.name == site["occupied_by"]:
-                                    site_index = idx
-                                    break
-                                elif (original_instance.location.x == site["position"]["x"] and original_instance.location.y == site["position"]["y"] and original_instance.location.z == site["position"]["z"]):
-                                    site_index = idx
-                                    break
-                        if site_index is None:
-                            site_name = None
-                        else:
-                            site_name = site_names[site_index]
+                        site_index = sites.index(original_instance)
+                        site_name = site_names[site_index]
                         if site_name != target_site:
                             parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
                             if parent is not None:
@@ -940,17 +885,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 parent_appended = True
 
                 # 加载状态
-                # noinspection PyProtectedMember
-                original_instance._size_x = plr_resource._size_x
-                # noinspection PyProtectedMember
-                original_instance._size_y = plr_resource._size_y
-                # noinspection PyProtectedMember
-                original_instance._size_z = plr_resource._size_z
-                # noinspection PyProtectedMember
-                original_instance._local_size_z = plr_resource._local_size_z
-                original_instance.location = plr_resource.location
-                original_instance.rotation = plr_resource.rotation
-                original_instance.barcode = plr_resource.barcode
                 original_instance.load_all_state(states)
                 child_count = len(original_instance.get_all_children())
                 self.lab_logger().info(
@@ -974,7 +908,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 action = i.get("action")  # remove, add, update
                 resources_uuid: List[str] = i.get("data")  # 资源数据
                 additional_add_params = i.get("additional_add_params", {})  # 额外参数
-                self.lab_logger().trace(f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}")
+                self.lab_logger().trace(
+                    f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
+                )
                 tree_set = None
                 if action in ["add", "update"]:
                     tree_set = await self.get_resource(
@@ -1001,14 +937,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 tree.root_node.res_content.parent_uuid = self.uuid
                         r = SerialCommand.Request()
                         r.command = json.dumps(
-                            {"data": {"data": new_tree_set.dump()}, "action": "update"}
-                        )  # 和Update Resource一致
+                            {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
                         response: SerialCommand_Response = await self._resource_clients[
-                            "c2s_update_resource_tree"
-                        ].call_async(
-                            r
-                        )  # type: ignore
-                        self.lab_logger().trace(f"确认资源云端 Add 结果: {response.response}")
+                            "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                        self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
                         results.append(result)
                     elif action == "update":
                         if tree_set is None:
@@ -1027,14 +959,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     tree.root_node.res_content.parent_uuid = self.uuid
                             r = SerialCommand.Request()
                             r.command = json.dumps(
-                                {"data": {"data": new_tree_set.dump()}, "action": "update"}
-                            )  # 和Update Resource一致
+                                {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
                             response: SerialCommand_Response = await self._resource_clients[
-                                "c2s_update_resource_tree"
-                            ].call_async(
-                                r
-                            )  # type: ignore
-                            self.lab_logger().trace(f"确认资源云端 Update 结果: {response.response}")
+                                "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                            self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
                         results.append(result)
                     elif action == "remove":
                         result = _handle_remove(resources_uuid)
@@ -1180,7 +1108,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     "machine_name": BasicConfig.machine_name,
                     "type": "slave",
                     "edge_device_id": self.device_id,
-                    "registry_name": self.registry_name,
                 }
             },
             ensure_ascii=False,
@@ -1393,41 +1320,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
 
                             # 批量查询资源
-                            queried_resources: list = [None] * len(resource_inputs)
-                            uuid_indices: list[tuple[int, str, dict]] = []  # (index, uuid, resource_data)
-
-                            # 第一遍：处理没有uuid的资源，收集有uuid的资源信息
-                            for idx, resource_data in enumerate(resource_inputs):
+                            queried_resources = []
+                            for resource_data in resource_inputs:
                                 unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
                                 if unilabos_uuid is None:
                                     plr_resource = await self.get_resource_with_dir(
                                         resource_id=resource_data["id"], with_children=True
                                     )
-                                    if "sample_id" in resource_data:
-                                        plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
-                                    queried_resources[idx] = plr_resource
                                 else:
-                                    uuid_indices.append((idx, unilabos_uuid, resource_data))
-
-                            # 第二遍：批量查询有uuid的资源
-                            if uuid_indices:
-                                uuids = [item[1] for item in uuid_indices]
-                                resource_tree = await self.get_resource(uuids)
-                                plr_resources = resource_tree.to_plr_resources()
-                                for i, (idx, _, resource_data) in enumerate(uuid_indices):
-                                    plr_resource = plr_resources[i]
-                                    if "sample_id" in resource_data:
-                                        plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
-                                    queried_resources[idx] = plr_resource
+                                    resource_tree = await self.get_resource([unilabos_uuid])
+                                    plr_resource = resource_tree.to_plr_resources()[0]
+                                if "sample_id" in resource_data:
+                                    plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                queried_resources.append(plr_resource)
 
                             self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
 
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
                             if not is_sequence:
-                                plr = self.resource_tracker.figure_resource(
-                                    {"name": final_resources.name}, try_mode=False
-                                )
+                                plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
                                 # 保留unilabos_extra
                                 if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
                                     plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
@@ -1466,12 +1378,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 execution_success = True
                             except Exception as _:
                                 execution_error = traceback.format_exc()
-                                error(
-                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
-                                )
-                                trace(
-                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
-                                )
+                                error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
+                                trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
 
                         future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
                         future.add_done_callback(_handle_future_exception)
@@ -1491,11 +1399,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         except Exception as _:
                             execution_error = traceback.format_exc()
                             error(
-                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
-                            )
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
                             trace(
-                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
-                            )
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
 
                     future.add_done_callback(_handle_future_exception)
 
@@ -1562,18 +1468,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if isinstance(rs, list):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
-                                    if res is None:
-                                        res = rs
-                                    if id(res) not in seen:
-                                        seen.add(id(res))
-                                        unique_resources.append(res)
                             else:
                                 res = self.resource_tracker.parent_resource(rs)
-                                if res is None:
-                                    res = rs
-                                if id(res) not in seen:
-                                    seen.add(id(res))
-                                    unique_resources.append(res)
+                            if id(res) not in seen:
+                                seen.add(id(res))
+                                unique_resources.append(res)
 
                         # 使用新的资源树接口
                         if unique_resources:
@@ -1625,37 +1524,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
-            # 获取 unilabos 系统参数
-            unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
-
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
             assert callable(
                 function
             ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
 
-            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
-            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
+            # 处理 ResourceSlot 类型参数
+            args_list = default_manager._analyze_method_signature(function)["args"]
             for arg in args_list:
                 arg_name = arg["name"]
                 arg_type = arg["type"]
 
                 # 跳过不在 function_args 中的参数
                 if arg_name not in function_args:
-                    # 处理 sample_uuids 参数注入
-                    if arg_name == PARAM_SAMPLE_UUIDS:
-                        raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
-                        # 将 material uuid 转换为 resource 实例
-                        # key: sample_uuid, value: material_uuid -> resource 实例
-                        resolved_sample_uuids: Dict[str, Any] = {}
-                        for sample_uuid, material_uuid in raw_sample_uuids.items():
-                            if material_uuid and self.resource_tracker:
-                                resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
-                                resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
-                            else:
-                                resolved_sample_uuids[sample_uuid] = material_uuid
-                        function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
-                        self.lab_logger().debug(f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}")
                     continue
 
                 # 处理单个 ResourceSlot
@@ -1685,7 +1567,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 )
                                 raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
 
-            # todo: 默认反报送
             return function(**function_args)
         except KeyError as ex:
             raise JsonCommandInitError(
@@ -1705,23 +1586,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             raise ValueError("至少需要提供一个 UUID")
 
         uuids_list = list(uuids)
-        future = self._resource_clients["c2s_update_resource_tree"].call_async(
-            SerialCommand.Request(
-                command=json.dumps(
-                    {
-                        "data": {"data": uuids_list, "with_children": True},
-                        "action": "get",
-                    }
-                )
+        future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
+            command=json.dumps(
+                {
+                    "data": {"data": uuids_list, "with_children": True},
+                    "action": "get",
+                }
             )
-        )
+        ))
 
         # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
         timeout = 30.0
         elapsed = 0.0
         while not future.done() and elapsed < timeout:
-            time.sleep(0.02)
-            elapsed += 0.02
+            time.sleep(0.05)
+            elapsed += 0.05
 
         if not future.done():
             raise Exception(f"资源查询超时: {uuids_list}")
@@ -1772,9 +1651,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
-            # 获取 unilabos 系统参数
-            unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
-
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
             assert callable(
@@ -1784,30 +1660,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 function
             ), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
 
-            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
-            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
+            # 处理 ResourceSlot 类型参数
+            args_list = default_manager._analyze_method_signature(function)["args"]
             for arg in args_list:
                 arg_name = arg["name"]
                 arg_type = arg["type"]
 
                 # 跳过不在 function_args 中的参数
                 if arg_name not in function_args:
-                    # 处理 sample_uuids 参数注入
-                    if arg_name == PARAM_SAMPLE_UUIDS:
-                        raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
-                        # 将 material uuid 转换为 resource 实例
-                        # key: sample_uuid, value: material_uuid -> resource 实例
-                        resolved_sample_uuids: Dict[str, Any] = {}
-                        for sample_uuid, material_uuid in raw_sample_uuids.items():
-                            if material_uuid and self.resource_tracker:
-                                resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
-                                resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
-                            else:
-                                resolved_sample_uuids[sample_uuid] = material_uuid
-                        function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
-                        self.lab_logger().debug(
-                            f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
-                        )
                     continue
 
                 # 处理单个 ResourceSlot
@@ -1897,15 +1757,6 @@ class ROS2DeviceNode:
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
 
-    # 类变量，用于循环管理
-    _asyncio_loop = None
-    _asyncio_loop_running = False
-    _asyncio_loop_thread = None
-
-    @classmethod
-    def get_asyncio_loop(cls):
-        return cls._asyncio_loop
-
     @staticmethod
     async def safe_task_wrapper(trace_callback, func, **kwargs):
         try:
@@ -1982,11 +1833,6 @@ class ROS2DeviceNode:
             print_publish: 是否打印发布信息
             driver_is_ros:
         """
-        # 在初始化时检查循环状态
-        if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
-            pass
-        elif ROS2DeviceNode._asyncio_loop_thread is None:
-            self._start_loop()
 
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -2032,7 +1878,6 @@ class ROS2DeviceNode:
 
         if driver_is_ros:
             driver_params["device_id"] = device_id
-            driver_params["registry_name"] = device_config.res_content.klass
             driver_params["resource_tracker"] = self.resource_tracker
         self._driver_instance = self._driver_creator.create_instance(driver_params)
         if self._driver_instance is None:
@@ -2050,7 +1895,6 @@ class ROS2DeviceNode:
                 children=children,
                 driver_instance=self._driver_instance,  # type: ignore
                 device_id=device_id,
-                registry_name=device_config.res_content.klass,
                 device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
@@ -2062,7 +1906,6 @@ class ROS2DeviceNode:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,
                 device_id=device_id,
-                registry_name=device_config.res_content.klass,
                 device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
@@ -2071,7 +1914,6 @@ class ROS2DeviceNode:
                 resource_tracker=self.resource_tracker,
             )
         self._ros_node: BaseROS2DeviceNode
-        # 将注册表类型名传递给BaseROS2DeviceNode,用于slave上报
         self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
         self.driver_instance._ros_node = self._ros_node  # type: ignore
         self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command  # type: ignore
@@ -2082,19 +1924,6 @@ class ROS2DeviceNode:
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
-    def _start_loop(self):
-        def run_event_loop():
-            loop = asyncio.new_event_loop()
-            ROS2DeviceNode._asyncio_loop = loop
-            asyncio.set_event_loop(loop)
-            loop.run_forever()
-
-        ROS2DeviceNode._asyncio_loop_thread = threading.Thread(
-            target=run_event_loop, daemon=True, name="ROS2DeviceNode"
-        )
-        ROS2DeviceNode._asyncio_loop_thread.start()
-        logger.info(f"循环线程已启动")
-
 
 class DeviceInfoType(TypedDict):
     id: str

unilabos/ros/nodes/presets/camera.py

@@ -6,13 +6,12 @@ from cv_bridge import CvBridge
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
 
 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):
+    def __init__(self, device_id='video_publisher', 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
         BaseROS2DeviceNode.__init__(
             self,
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             device_uuid=device_uuid,
             status_types={},
             action_value_mappings={},