Bump version to 0.10.4

Fix and tested new create_resource.

Update create_resource to resource tree mode.

.conda/base/recipe.yaml

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

.conda/environment/recipe.yaml

@@ -1,39 +0,0 @@
-# unilabos-env: conda environment dependencies (ROS2 + conda packages)
-
-package:
-  name: unilabos-env
-  version: 0.10.17
-
-build:
-  noarch: generic
-
-requirements:
-  run:
-  # Python
-  - zstd
-  - zstandard
-  - conda-forge::python ==3.11.14
-  - conda-forge::opencv
-  # ROS2 dependencies (from ci-check.yml)
-  - robostack-staging::ros-humble-ros-core
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-nav2-msgs
-  - robostack-staging::ros-humble-cv-bridge
-  - robostack-staging::ros-humble-vision-opencv
-  - robostack-staging::ros-humble-tf-transformations
-  - robostack-staging::ros-humble-moveit-msgs
-  - robostack-staging::ros-humble-tf2-ros
-  - robostack-staging::ros-humble-tf2-ros-py
-  - conda-forge::transforms3d
-  - conda-forge::uv
-
-  # UniLabOS custom messages
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

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

.conda/recipe.yaml

@@ -0,0 +1,91 @@
+package:
+  name: unilabos
+  version: 0.10.14
+
+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"

.github/workflows/ci-check.yml

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

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

@@ -13,11 +13,6 @@ on:
         required: false
         default: 'win-64'
         type: string
-      build_full:
-        description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
   build-conda-pack:
@@ -29,7 +24,7 @@ jobs:
             platform: linux-64
             env_file: unilabos-linux-64.yaml
             script_ext: sh
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-13 # Intel
             platform: osx-64
             env_file: unilabos-osx-64.yaml
             script_ext: sh
@@ -62,7 +57,7 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         if: steps.should_build.outputs.should_build == 'true'
         with:
           ref: ${{ github.event.inputs.branch }}
@@ -74,7 +69,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
+          python-version: '3.11.11'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -86,14 +81,7 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          if "${{ 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
-          )
 
       - 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: ${{ github.event.inputs.build_full }}"
+          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-          if [[ "${{ 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
 
       - 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: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.14
+          echo Python version: 3.11.11
-          if "${{ github.event.inputs.build_full }}"=="true" (
-            echo Package: unilabos-full ^(complete^)
-          ) else (
-            echo Package: unilabos ^(minimal^)
-          )
           echo.
           echo Distribution package contents:
           dir dist-package
@@ -352,12 +328,7 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.14"
+          echo "Python version: 3.11.11"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "Package: unilabos-full (complete)"
-          else
-            echo "Package: unilabos (minimal)"
-          fi
           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）
+  push:
-  workflow_run:
+    branches: [main]
-    workflows: ["CI Check"]
+  pull_request:
-    types: [completed]
     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.inputs.branch || github.ref }}
-          ref: ${{ github.event.workflow_run.head_branch || 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
+        uses: actions/configure-pages@v4
-        if: |
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-          github.event.workflow_run.head_branch == '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
+        uses: actions/upload-pages-artifact@v3
-        if: |
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-          github.event.workflow_run.head_branch == 'main' ||
-          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
         with:
           path: docs/_build/html
 
   # Deploy to GitHub Pages
   deploy:
-    if: |
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
-      github.event.workflow_run.head_branch == 'main' ||
-      (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}

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

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

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

@@ -1,69 +1,32 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 CI Check 成功后自动触发
-  workflow_run:
-    workflows: ["CI Check"]
-    types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
   push:
+    branches: [main, dev]
     tags: ['v*']
-  # 手动触发
+  pull_request:
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'linux-64'
-      build_full:
-        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
-        required: false
-        default: false
-        type: boolean
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
         default: false
         type: boolean
-      skip_ci_check:
-        description: '跳过等待 CI Check (手动触发时可选)'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
-    runs-on: ubuntu-latest
-    if: github.event_name == 'workflow_run'
-    outputs:
-      should_continue: ${{ steps.check.outputs.should_continue }}
-    steps:
-      - name: Check CI status
-        id: check
-        run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
-            echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
-          else
-            echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
-          fi
-
   build:
-    needs: [wait-for-ci]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
-    if: |
-      always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-          - os: macos-15 # Intel (via Rosetta)
+          - os: macos-13 # Intel
             platform: osx-64
           - os: macos-latest # ARM64
             platform: osx-arm64
@@ -77,10 +40,8 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -104,6 +65,7 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: strict
           activate-environment: build-env
+          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -119,61 +81,12 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Building UniLabOS package"
-          echo "Building packages:"
-          echo "  - unilabos-env (environment dependencies)"
-          echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
-            echo "  - unilabos-full (complete package)"
-          fi
 
-      - 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/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-          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
 
       - 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

@@ -4,8 +4,6 @@ temp/
 output/
 unilabos_data/
 pyrightconfig.json
-.cursorignore
-device_package*/
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -252,9 +250,3 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 test_config.py
 
 
-/.claude
-/.conda
-/.cursor
-/.github
-/.conda/base
-.conda/base/recipe.yaml

AGENTS.md

@@ -1,87 +0,0 @@
-# AGENTS.md
-
-This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
-
-Also follow the monorepo-level rules in `../AGENTS.md`.
-
-## Build & Development
-
-```bash
-# Install in editable mode (requires mamba env with python 3.11)
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Run with a device graph
-unilab --graph <graph.json> --config <config.py> --backend ros
-unilab --graph <graph.json> --config <config.py> --backend simple  # no ROS2 needed
-
-# Common CLI flags
-unilab --app_bridges websocket fastapi    # communication bridges
-unilab --test_mode                        # simulate hardware, no real execution
-unilab --check_mode                       # CI validation of registry imports
-unilab --skip_env_check                   # skip auto-install of dependencies
-unilab --visual rviz|web|disable          # visualization mode
-unilab --is_slave                         # run as slave node
-
-# Workflow upload subcommand
-unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
-
-# Tests
-pytest tests/                              # all tests
-pytest tests/resources/test_resourcetreeset.py  # single test file
-pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method  # single test
-```
-
-## Architecture
-
-### Startup Flow
-
-`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
-
-### Core Layers
-
-**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
-
-**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
-
-**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
-
-**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
-
-**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
-
-**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
-
-**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
-
-### Configuration System
-
-- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
-- Config files are `.py` files with matching class names (see `config/example_config.py`)
-- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
-- Device topology defined in graph files (JSON with node-link format, or GraphML)
-
-### Key Data Flow
-
-1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
-2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
-3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
-4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
-
-### Test Data
-
-Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
-
-## Code Conventions
-
-- Code comments and log messages in simplified Chinese
-- Python 3.11+, type hints expected
-- Pydantic models for data validation (`resource_tracker.py`)
-- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
-- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
-- CLI argument dashes auto-converted to underscores for consistency
-
-## Licensing
-
-- Framework code: GPL-3.0
-- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute

CLAUDE.md

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

MANIFEST.in

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

README.md

@@ -31,63 +31,37 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
-### 1. Setup Conda Environment
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
-
-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 |
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 mamba activate unilab
-
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-# 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
 ```
 
-**When to use which?**
+## Install Dev Uni-Lab-OS
-- **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)
 
 ```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
+3. Start Uni-Lab System:
 
 Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
 
-4. Best Practice
-
-See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
-
 ## Message Format
 
 Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
 
 ## Citation
 
-If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
+If you use Uni-Lab-OS in academic research, please cite:
 
 ```bibtex
 @article{gao2025unilabos,

README_zh.md

@@ -31,63 +31,39 @@ 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：
+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:
-
-| 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 |
 
 ```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
-
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-# 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
 ```
 
-**如何选择？**
+2. 安装开发版 Uni-Lab-OS:
-- **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）
 
 ```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
+3. 启动 Uni-Lab 系统:
 
 请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
 
-4. 最佳实践
-
-请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
-
 ## 消息格式
 
 Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
 
 ## 引用
 
-如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
+如果您在学术研究中使用 Uni-Lab-OS，请引用：
 
 ```bibtex
 @article{gao2025unilabos,

docs/conf.py

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

docs/developer_guide/add_device.md

@@ -15,9 +15,6 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
 **示例：**
 
 ```python
-from unilabos.registry.decorators import device, topic_config
-
-@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
 class MockGripper:
     def __init__(self):
         self._position: float = 0.0
@@ -26,23 +23,19 @@ class MockGripper:
         self._status = "Idle"
 
     @property
-    @topic_config()  # 添加 @topic_config 才会定时广播
     def position(self) -> float:
         return self._position
 
     @property
-    @topic_config()
     def velocity(self) -> float:
         return self._velocity
 
     @property
-    @topic_config()
     def torque(self) -> float:
         return self._torque
 
-    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
+    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
     @property
-    @topic_config(period=2.0)  # 可自定义发布周期
     def status(self) -> str:
         return self._status
 
@@ -156,7 +149,7 @@ my_device: # 设备唯一标识符
 
 系统会自动分析您的 Python 驱动类并生成：
 
-- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
+- `status_types`：从 `@property` 装饰的方法自动识别状态属性
 - `action_value_mappings`：从类方法自动生成动作映射
 - `init_param_schema`：从 `__init__` 方法分析初始化参数
 - `schema`：前端显示用的属性类型定义
@@ -186,9 +179,7 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
 
 ```python
 from typing import Dict, Any
-from unilabos.registry.decorators import device, topic_config
 
-@device(id="my_device", category=["general"], description="My Device")
 class MyDevice:
     """设备类文档字符串
 
@@ -207,9 +198,8 @@ class MyDevice:
         # 初始化硬件连接
 
     @property
-    @topic_config()  # 必须添加 @topic_config 才会广播
     def status(self) -> str:
-        """设备状态（通过 @topic_config 广播）"""
+        """设备状态（会自动广播）"""
         return self._status
 
     def my_action(self, param: float) -> Dict[str, Any]:
@@ -227,61 +217,34 @@ class MyDevice:
 
 ## 状态属性 vs 动作方法
 
-### 状态属性（@property + @topic_config）
+### 状态属性（@property）
 
-状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
+状态属性会被自动识别并定期广播：
 
 ```python
-from unilabos.registry.decorators import topic_config
-
 @property
-@topic_config()  # 必须添加，否则不会广播
 def temperature(self) -> float:
     """当前温度"""
     return self._read_temperature()
 
 @property
-@topic_config(period=2.0)  # 可自定义发布周期（秒）
 def status(self) -> str:
     """设备状态: idle, running, error"""
     return self._status
 
 @property
-@topic_config(name="ready")  # 可自定义发布名称
 def is_ready(self) -> bool:
     """设备是否就绪"""
     return self._status == "idle"
 ```
 
-也可以使用普通方法（非 @property）配合 `@topic_config`：
-
-```python
-@topic_config(period=10.0)
-def get_sensor_data(self) -> Dict[str, float]:
-    """获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
-    return {"temp": self._temp, "humidity": self._humidity}
-```
-
-**`@topic_config` 参数**:
-
-| 参数 | 类型 | 默认值 | 说明 |
-|------|------|--------|------|
-| `period` | float | 5.0 | 发布周期（秒） |
-| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
-| `qos` | int | 10 | QoS 深度 |
-| `name` | str | None | 自定义发布名称 |
-
-**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
-
 **特点**:
 
-- 必须使用 `@topic_config` 装饰器
+- 使用`@property`装饰器
-- 支持 `@property` 和普通方法
+- 只读，不能有参数
-- 添加到注册表的 `status_types`
+- 自动添加到注册表的`status_types`
 - 定期发布到 ROS2 topic
 
-> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
-
 ### 动作方法
 
 动作方法是设备可以执行的操作：
@@ -534,7 +497,6 @@ class LiquidHandler:
         self._status = "idle"
 
     @property
-    @topic_config()
     def status(self) -> str:
         return self._status
 
@@ -924,52 +886,7 @@ class MyDevice:
 
 ## 最佳实践
 
-### 1. 使用 `@device` 装饰器标识设备类
+### 1. 类型注解
-
-```python
-from unilabos.registry.decorators import device
-
-@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
-class MyDevice:
-    ...
-```
-
-- `id`：设备唯一标识符，用于注册表匹配
-- `category`：分类列表，前端用于分组显示
-- `description`：设备描述
-- `icon`：图标文件名（可选）
-
-### 2. 使用 `@topic_config` 声明需要广播的状态
-
-```python
-from unilabos.registry.decorators import topic_config
-
-# ✓ @property + @topic_config → 会广播
-@property
-@topic_config(period=2.0)
-def temperature(self) -> float:
-    return self._temp
-
-# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
-@topic_config(period=10.0)
-def get_sensor_data(self) -> Dict[str, float]:
-    return {"temp": self._temp}
-
-# ✓ 使用 name 参数自定义发布名称
-@property
-@topic_config(name="ready")
-def is_ready(self) -> bool:
-    return self._status == "idle"
-
-# ✗ 仅有 @property，没有 @topic_config → 不会广播
-@property
-def internal_state(self) -> str:
-    return self._state
-```
-
-> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
-
-### 3. 类型注解
 
 ```python
 from typing import Dict, Any, Optional, List
@@ -984,7 +901,7 @@ def method(
     pass
 ```
 
-### 4. 文档字符串
+### 2. 文档字符串
 
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
     pass
 ```
 
-### 5. 配置验证
+### 3. 配置验证
 
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
     self.baudrate = config['baudrate']
 ```
 
-### 6. 资源清理
+### 4. 资源清理
 
 ```python
 def __del__(self):
@@ -1029,7 +946,7 @@ def __del__(self):
         self.connection.close()
 ```
 
-### 7. 设计前端友好的返回值
+### 5. 设计前端友好的返回值
 
 **记住：返回值会直接显示在 Web 界面**
 

docs/developer_guide/add_registry.md

@@ -422,20 +422,18 @@ placeholder_keys:
 
 ### status_types
 
-系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
+系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
 
 ```yaml
 status_types:
-  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
+  current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
-  is_heating: bool
+  is_heating: bool # 从 get_is_heating() 或 @property is_heating
-  status: str
+  status: str # 从 get_status() 或 @property status
 ```
 
 **注意事项**：
 
-- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
+- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
-- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
-- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
 
@@ -539,13 +537,11 @@ class AdvancedLiquidHandler:
         self._temperature = 25.0
 
     @property
-    @topic_config()
     def status(self) -> str:
         """设备状态"""
         return self._status
 
     @property
-    @topic_config()
     def temperature(self) -> float:
         """当前温度"""
         return self._temperature
@@ -813,23 +809,21 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 
 ```python
-from unilabos.registry.decorators import device, topic_config
+from unilabos.common.device_base import DeviceBase
 
-@device(id="my_device", category=["temperature"], description="My Device")
+class MyDevice(DeviceBase):
-class MyDevice:
     def __init__(self, config):
         """初始化，参数会自动分析到 init_param_schema.config"""
+        super().__init__(config)
         self.port = config.get('port', '/dev/ttyUSB0')
 
-    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
+    # 状态方法（会自动生成到 status_types）
     @property
-    @topic_config()
     def status(self):
         """返回设备状态"""
         return "idle"
 
     @property
-    @topic_config()
     def temperature(self):
         """返回当前温度"""
         return 25.0
@@ -1045,34 +1039,7 @@ resource.type      # "resource"
 
 ### 代码规范
 
-1. **使用 `@device` 装饰器标识设备类**
+1. **始终使用类型注解**
-
-```python
-from unilabos.registry.decorators import device
-
-@device(id="my_device", category=["heating"], description="My Device")
-class MyDevice:
-    ...
-```
-
-2. **使用 `@topic_config` 声明广播属性**
-
-```python
-from unilabos.registry.decorators import topic_config
-
-# ✓ 需要广播的状态属性
-@property
-@topic_config(period=2.0)
-def temperature(self) -> float:
-    return self._temp
-
-# ✗ 仅有 @property 不会广播
-@property
-def internal_counter(self) -> int:
-    return self._counter
-```
-
-3. **始终使用类型注解**
 
 ```python
 # ✓ 好
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
     pass
 ```
 
-4. **提供有意义的参数名**
+2. **提供有意义的参数名**
 
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-5. **使用 Optional 表示可选参数**
+3. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1109,7 +1076,7 @@ def method(
     pass
 ```
 
-6. **添加详细的文档字符串**
+4. **添加详细的文档字符串**
 
 ```python
 def method(
@@ -1129,13 +1096,13 @@ def method(
     pass
 ```
 
-7. **方法命名规范**
+5. **方法命名规范**
 
-   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
+   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
    - 动作方法使用动词开头
    - 保持命名清晰、一致
 
-8. **完善的错误处理**
+6. **完善的错误处理**
    - 实现完善的错误处理
    - 添加日志记录
    - 提供有意义的错误信息

docs/developer_guide/networking_overview.md

@@ -221,10 +221,10 @@ Laboratory A    Laboratory B
 
 ```bash
 # 实验室A
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 ```
 
 ---

docs/requirements.txt

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

docs/user_guide/best_practice.md

@@ -31,14 +31,6 @@
 
 详细的安装步骤请参考 [安装指南](installation.md)。
 
-**选择合适的安装包：**
-
-| 安装包 | 适用场景 | 包含组件 |
-|--------|----------|----------|
-| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
-| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
-
 **关键步骤：**
 
 ```bash
@@ -46,30 +38,15 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
 
 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.14
+mamba create -n unilab python=3.11.11
 
 # 3. 激活环境
 mamba activate unilab
 
-# 4. 安装 Uni-Lab-OS（选择其一）
+# 4. 安装 Uni-Lab-OS
-
-# 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
-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
+2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+3. 在画布上连接它们（建立父子关系）
-4. 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
+#### 9.1 为什么需要自定义设备？
-
-**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？
 
 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/graph_files.md

@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
 ### 使用示例
 
 ```python
-from unilabos.resources.resource_tracker import ResourceDictInstance
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 
 # 旧格式节点
 old_format_node = {
@@ -477,10 +477,10 @@ old_format_node = {
 instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
 
 # 访问标准化后的数据
-print(instance.res_content.id)  # "pump_1"
+print(instance.res_content.id)      # "pump_1"
-print(instance.res_content.uuid)  # 自动生成的 UUID
+print(instance.res_content.uuid)    # 自动生成的 UUID
 print(instance.res_content.config)  # {}
-print(instance.res_content.data)  # {}
+print(instance.res_content.data)    # {}
 ```
 
 ### 格式迁移建议

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                     |
+| 安装方式               | 适用人群             | 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**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
+| **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 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 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                   |
-| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 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
-
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-# 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
 ```
 
 **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`: 从 uni-lab channel 安装 unilabos 包
-- `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）
 - `-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：
+**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）。
-- 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
+#### 选项 A：通过一键安装（推荐）
-- 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）
+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）
+# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
-git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+pip uninstall unilabos -y
-cd Uni-Lab-OS
 
-# 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）：
+# 以可编辑模式安装开发版 unilabos
-
-```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：
 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**：
+**参数说明**：
-- `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
 
-**为什么使用可编辑模式？**
+- `-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
-- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
+- `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）
-- 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
-```
 
 ### 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**: 
+**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。
-
-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 |
 
 ### 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
+- 生产环境推荐使用方式二（手动安装）的稳定版本
-- **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
+- 开发和测试推荐使用方式三（开发者安装）
-- **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）
-- **快速体验和演示**推荐使用方式一（一键安装）

docs/user_guide/launch.md

@@ -22,6 +22,7 @@ options:
   --is_slave            Run the backend as slave node (without host privileges).
   --slave_no_host       Skip waiting for host service in slave mode
   --upload_registry     Upload registry information when starting unilab
+  --use_remote_resource Use remote resources when starting unilab
   --config CONFIG       Configuration file path, supports .py format Python config files
   --port PORT           Port for web service information page
   --disable_browser     Disable opening information page on startup
@@ -84,7 +85,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
 支持两种方式：
 
 - **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
-- **远程资源**：不指定本地文件即可
+- **远程资源**：使用 `--use_remote_resource` 从云端获取
 
 ### 7. 注册表构建
 
@@ -195,7 +196,7 @@ unilab --config path/to/your/config.py
 unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 
 # 使用远程资源启动
-unilab --ak your_ak --sk your_sk
+unilab --ak your_ak --sk your_sk --use_remote_resource
 
 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.10.14
 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: "0.10.19"
+  version: "0.10.14"
 
 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()

scripts/workflow.py

@@ -2,6 +2,7 @@ import json
 import logging
 import traceback
 import uuid
+import xml.etree.ElementTree as ET
 from typing import Any, Dict, List
 
 import networkx as nx
@@ -24,15 +25,7 @@ class SimpleGraph:
 
     def add_edge(self, source, target, **attrs):
         """添加边"""
-        # edge = {"source": source, "target": target, **attrs}
+        edge = {"source": source, "target": target, **attrs}
-        edge = {
-            "source": source, "target": target,
-            "source_node_uuid": source,
-            "target_node_uuid": target,
-            "source_handle_io": "source",
-            "target_handle_io": "target",
-            **attrs
-        }
         self.edges.append(edge)
 
     def to_dict(self):
@@ -49,7 +42,6 @@ class SimpleGraph:
             "multigraph": False,
             "graph": {},
             "nodes": nodes_list,
-            "edges": self.edges,
             "links": self.edges,
         }
 
@@ -66,8 +58,495 @@ def extract_json_from_markdown(text: str) -> str:
     return text
 
 
+def convert_to_type(val: str) -> Any:
+    """将字符串值转换为适当的数据类型"""
+    if val == "True":
+        return True
+    if val == "False":
+        return False
+    if val == "?":
+        return None
+    if val.endswith(" g"):
+        return float(val.split(" ")[0])
+    if val.endswith("mg"):
+        return float(val.split("mg")[0])
+    elif val.endswith("mmol"):
+        return float(val.split("mmol")[0]) / 1000
+    elif val.endswith("mol"):
+        return float(val.split("mol")[0])
+    elif val.endswith("ml"):
+        return float(val.split("ml")[0])
+    elif val.endswith("RPM"):
+        return float(val.split("RPM")[0])
+    elif val.endswith(" °C"):
+        return float(val.split(" ")[0])
+    elif val.endswith(" %"):
+        return float(val.split(" ")[0])
+    return val
 
 
+def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
+    """统一的数据重构函数，根据操作类型自动选择模板"""
+    refactored_data = []
+
+    # 定义操作映射，包含生物实验和有机化学的所有操作
+    OPERATION_MAPPING = {
+        # 生物实验操作
+        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
+        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
+        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
+        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
+        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
+        # 有机化学操作
+        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
+        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
+        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
+        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
+        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
+        "Transfer": "SynBioFactory-workstation-TransferProtocol",
+        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
+        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
+        "Filter": "SynBioFactory-workstation-FilterProtocol",
+        "Dry": "SynBioFactory-workstation-DryProtocol",
+        "Add": "SynBioFactory-workstation-AddProtocol",
+    }
+
+    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    for step in data:
+        operation = step.get("action")
+        if not operation or operation in UNSUPPORTED_OPERATIONS:
+            continue
+
+        # 处理重复操作
+        if operation == "Repeat":
+            times = step.get("times", step.get("parameters", {}).get("times", 1))
+            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
+            for i in range(int(times)):
+                sub_data = refactor_data(sub_steps)
+                refactored_data.extend(sub_data)
+            continue
+
+        # 获取模板名称
+        template = OPERATION_MAPPING.get(operation)
+        if not template:
+            # 自动推断模板类型
+            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
+                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
+            else:
+                template = f"SynBioFactory-workstation-{operation}Protocol"
+
+        # 创建步骤数据
+        step_data = {
+            "template": template,
+            "description": step.get("description", step.get("purpose", f"{operation} operation")),
+            "lab_node_type": "Device",
+            "parameters": step.get("parameters", step.get("action_args", {})),
+        }
+        refactored_data.append(step_data)
+
+    return refactored_data
+
+
+def build_protocol_graph(
+    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
+) -> SimpleGraph:
+    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
+    G = SimpleGraph()
+    resource_last_writer = {}
+    LAB_NAME = "SynBioFactory"
+
+    protocol_steps = refactor_data(protocol_steps)
+
+    # 检查协议步骤中的模板来判断协议类型
+    has_biomek_template = any(
+        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
+        for step in protocol_steps
+    )
+
+    if has_biomek_template:
+        # 生物实验协议图构建
+        for labware_id, labware in labware_info.items():
+            node_id = str(uuid.uuid4())
+
+            labware_attrs = labware.copy()
+            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
+            labware_attrs["description"] = labware_id
+            labware_attrs["lab_node_type"] = (
+                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
+            )
+            labware_attrs["device_id"] = workstation_name
+
+            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
+            resource_last_writer[labware_id] = f"{node_id}:labware"
+
+        # 处理协议步骤
+        prev_node = None
+        for i, step in enumerate(protocol_steps):
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 添加控制流边
+            if prev_node is not None:
+                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
+            prev_node = node_id
+
+            # 处理物料流
+            params = step.get("parameters", {})
+            if "sources" in params and params["sources"] in resource_last_writer:
+                source_node, source_port = resource_last_writer[params["sources"]].split(":")
+                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
+
+            if "targets" in params:
+                resource_last_writer[params["targets"]] = f"{node_id}:labware"
+
+        # 添加协议结束节点
+        end_id = str(uuid.uuid4())
+        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
+        if prev_node is not None:
+            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
+
+    else:
+        # 有机化学协议图构建
+        WORKSTATION_ID = workstation_name
+
+        # 为所有labware创建资源节点
+        for item_id, item in labware_info.items():
+            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
+            node_id = str(uuid.uuid4())
+
+            # 判断节点类型
+            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
+                if "reactor" not in str(item_id).lower():
+                    continue
+                lab_node_type = "Sample"
+                description = f"Prepare Reactor: {item_id}"
+                liquid_type = []
+                liquid_volume = []
+            else:
+                lab_node_type = "Reagent"
+                description = f"Add Reagent to Flask: {item_id}"
+                liquid_type = [item_id]
+                liquid_volume = [1e5]
+
+            G.add_node(
+                node_id,
+                template=f"{LAB_NAME}-host_node-create_resource",
+                description=description,
+                lab_node_type=lab_node_type,
+                res_id=item_id,
+                device_id=WORKSTATION_ID,
+                class_name="container",
+                parent=WORKSTATION_ID,
+                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
+                liquid_input_slot=[-1],
+                liquid_type=liquid_type,
+                liquid_volume=liquid_volume,
+                slot_on_deck="",
+                role=item.get("role", ""),
+            )
+            resource_last_writer[item_id] = f"{node_id}:labware"
+
+        last_control_node_id = None
+
+        # 处理协议步骤
+        for step in protocol_steps:
+            node_id = str(uuid.uuid4())
+            G.add_node(node_id, **step)
+
+            # 控制流
+            if last_control_node_id is not None:
+                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
+            last_control_node_id = node_id
+
+            # 物料流
+            params = step.get("parameters", {})
+            input_resources = {
+                "Vessel": params.get("vessel"),
+                "ToVessel": params.get("to_vessel"),
+                "FromVessel": params.get("from_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources": params.get("sources"),
+                "targets": params.get("targets"),
+            }
+
+            for target_port, resource_name in input_resources.items():
+                if resource_name and resource_name in resource_last_writer:
+                    source_node, source_port = resource_last_writer[resource_name].split(":")
+                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
+
+            output_resources = {
+                "VesselOut": params.get("vessel"),
+                "FromVesselOut": params.get("from_vessel"),
+                "ToVesselOut": params.get("to_vessel"),
+                "FiltrateOut": params.get("filtrate_vessel"),
+                "reagent": params.get("reagent"),
+                "solvent": params.get("solvent"),
+                "compound": params.get("compound"),
+                "sources_out": params.get("sources"),
+                "targets_out": params.get("targets"),
+            }
+
+            for source_port, resource_name in output_resources.items():
+                if resource_name:
+                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
+
+    return G
+
+
+def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
+    """
+    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    G = nx.DiGraph()
+
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        G.add_node(node_id, label=label, **attrs)
+
+    for edge in protocol_graph.edges:
+        G.add_edge(edge["source"], edge["target"])
+
+    plt.figure(figsize=(20, 15))
+    try:
+        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
+    except Exception:
+        pos = nx.shell_layout(G)  # Fallback layout
+
+    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
+    nx.draw(
+        G,
+        pos,
+        with_labels=False,
+        node_size=2500,
+        node_color="skyblue",
+        node_shape="o",
+        edge_color="gray",
+        width=1.5,
+        arrowsize=15,
+    )
+    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
+
+    plt.title("Chemical Protocol Workflow Graph", size=15)
+    plt.savefig(output_path, dpi=300, bbox_inches="tight")
+    plt.close()
+    print(f"  - Visualization saved to '{output_path}'")
+
+
+from networkx.drawing.nx_agraph import to_agraph
+import re
+
+COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
+
+def _is_compass(port: str) -> bool:
+    return isinstance(port, str) and port.lower() in COMPASS
+
+def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
+    """
+    使用 Graphviz 端口语法绘制协议工作流图。
+    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
+    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
+    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
+    """
+    if not protocol_graph:
+        print("Cannot draw graph: Graph object is empty.")
+        return
+
+    # 1) 先用 networkx 搭建有向图，保留端口属性
+    G = nx.DiGraph()
+    for node_id, attrs in protocol_graph.nodes.items():
+        label = attrs.get("description", attrs.get("template", node_id[:8]))
+        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
+        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
+
+    edges_data = []
+    in_ports_by_node  = {}  # 收集命名输入端口
+    out_ports_by_node = {}  # 收集命名输出端口
+
+    for edge in protocol_graph.edges:
+        u = edge["source"]
+        v = edge["target"]
+        sp = edge.get("source_port")
+        tp = edge.get("target_port")
+
+        # 记录到图里（保留原始端口信息）
+        G.add_edge(u, v, source_port=sp, target_port=tp)
+        edges_data.append((u, v, sp, tp))
+
+        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
+        if sp and not _is_compass(sp):
+            out_ports_by_node.setdefault(u, set()).add(str(sp))
+        if tp and not _is_compass(tp):
+            in_ports_by_node.setdefault(v, set()).add(str(tp))
+
+    # 2) 转为 AGraph，使用 Graphviz 渲染
+    A = to_agraph(G)
+    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
+    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
+    A.edge_attr.update(arrowsize="0.8", color="#666666")
+
+    # 3) 为需要命名端口的节点设置 record 形状与 label
+    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
+    for n in A.nodes():
+        node = A.get_node(n)
+        core = G.nodes[n].get("_core_label", n)
+
+        in_ports  = sorted(in_ports_by_node.get(n, []))
+        out_ports = sorted(out_ports_by_node.get(n, []))
+
+        # 如果该节点涉及命名端口，则用 record；否则保留原 box
+        if in_ports or out_ports:
+            def port_fields(ports):
+                if not ports:
+                    return " "  # 必须留一个空槽占位
+                # 每个端口一个小格子，<p> name
+                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
+
+            left  = port_fields(in_ports)
+            right = port_fields(out_ports)
+
+            # 三栏：左(入) | 中(节点名) | 右(出)
+            record_label = f"{{ {left} | {core} | {right} }}"
+            node.attr.update(shape="record", label=record_label)
+        else:
+            # 没有命名端口：普通盒子，显示核心标签
+            node.attr.update(label=str(core))
+
+    # 4) 给边设置 headport / tailport
+    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
+    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
+    for (u, v, sp, tp) in edges_data:
+        e = A.get_edge(u, v)
+
+        # Graphviz 属性：tail 是源，head 是目标
+        if sp:
+            if _is_compass(sp):
+                e.attr["tailport"] = sp.lower()
+            else:
+                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
+                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
+
+        if tp:
+            if _is_compass(tp):
+                e.attr["headport"] = tp.lower()
+            else:
+                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
+
+        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
+        # e.attr["arrowhead"] = "vee"
+
+    # 5) 输出
+    A.draw(output_path, prog="dot")
+    print(f"  - Port-aware workflow rendered to '{output_path}'")
+
+
+def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
+    """展平嵌套的XDL程序结构"""
+    flattened_operations = []
+    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
+
+    def extract_operations(element: ET.Element):
+        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
+            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
+                flattened_operations.append(element)
+
+        for child in element:
+            extract_operations(child)
+
+    for child in procedure_elem:
+        extract_operations(child)
+
+    return flattened_operations
+
+
+def parse_xdl_content(xdl_content: str) -> tuple:
+    """解析XDL内容"""
+    try:
+        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
+        root = ET.fromstring(xdl_content_cleaned)
+
+        synthesis_elem = root.find("Synthesis")
+        if synthesis_elem is None:
+            return None, None, None
+
+        # 解析硬件组件
+        hardware_elem = synthesis_elem.find("Hardware")
+        hardware = []
+        if hardware_elem is not None:
+            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
+
+        # 解析试剂
+        reagents_elem = synthesis_elem.find("Reagents")
+        reagents = []
+        if reagents_elem is not None:
+            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
+
+        # 解析程序
+        procedure_elem = synthesis_elem.find("Procedure")
+        if procedure_elem is None:
+            return None, None, None
+
+        flattened_operations = flatten_xdl_procedure(procedure_elem)
+        return hardware, reagents, flattened_operations
+
+    except ET.ParseError as e:
+        raise ValueError(f"Invalid XDL format: {e}")
+
+
+def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
+    """
+    将XDL XML格式转换为标准的字典格式
+
+    Args:
+        xdl_content: XDL XML内容
+
+    Returns:
+        转换结果，包含步骤和器材信息
+    """
+    try:
+        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
+        if hardware is None:
+            return {"error": "Failed to parse XDL content", "success": False}
+
+        # 将XDL元素转换为字典格式
+        steps_data = []
+        for elem in flattened_operations:
+            # 转换参数类型
+            parameters = {}
+            for key, val in elem.attrib.items():
+                converted_val = convert_to_type(val)
+                if converted_val is not None:
+                    parameters[key] = converted_val
+
+            step_dict = {
+                "operation": elem.tag,
+                "parameters": parameters,
+                "description": elem.get("purpose", f"Operation: {elem.tag}"),
+            }
+            steps_data.append(step_dict)
+
+        # 合并硬件和试剂为统一的labware_info格式
+        labware_data = []
+        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
+        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
+
+        return {
+            "success": True,
+            "steps": steps_data,
+            "labware": labware_data,
+            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
+        }
+
+    except Exception as e:
+        error_msg = f"XDL conversion failed: {str(e)}"
+        logger.error(error_msg)
+        return {"error": error_msg, "success": False}
 
 
 def create_workflow(

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.19',
+    version='0.10.14',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/devices/liquid_handling/README.md

@@ -1,15 +0,0 @@
-# Liquid handling 集成测试
-
-`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
-
-1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
-2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
-3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
-
-```bash
-export UNILAB_SIM_TEST=1
-pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
-```
-
-如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
-

tests/devices/liquid_handling/unit_test.py

@@ -1,547 +0,0 @@
-import asyncio
-from dataclasses import dataclass
-from typing import Any, Iterable, List, Optional, Sequence, Tuple
-
-import pytest
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-
-
-@dataclass(frozen=True)
-class DummyContainer:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyContainer({self.name})"
-
-
-@dataclass(frozen=True)
-class DummyTipSpot:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyTipSpot({self.name})"
-
-
-def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
-    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
-    for i in range(n):
-        yield [DummyTipSpot(f"tip_{i}")]
-
-
-class FakeLiquidHandler(LiquidHandlerAbstract):
-    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
-
-    def __init__(self, channel_num: int = 8):
-        # 不调用 super().__init__，避免真实硬件/后端依赖
-        self.channel_num = channel_num
-        self.support_touch_tip = True
-        self.current_tip = iter(make_tip_iter())
-        self.calls: List[Tuple[str, Any]] = []
-
-    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
-        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
-
-    async def aspirate(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "aspirate",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def dispense(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "dispense",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def discard_tips(self, use_channels=None, *args, **kwargs):
-        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
-        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
-
-    async def custom_delay(self, seconds=0, msg=None):
-        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
-
-    async def touch_tip(self, targets):
-        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
-        self.calls.append(("touch_tip", {"targets": targets}))
-
-def run(coro):
-    return asyncio.run(coro)
-
-
-def test_one_to_one_single_channel_basic_calls():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  targets = [DummyContainer(f"T{i}") for i in range(3)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[1, 2, 3],
-      dis_vols=[4, 5, 6],
-      mix_times=None,  # 应该仍能执行（不 mix）
-    )
-  )
-
-  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
-  assert [c[0] for c in lh.calls].count("aspirate") == 3
-  assert [c[0] for c in lh.calls].count("dispense") == 3
-  assert [c[0] for c in lh.calls].count("discard_tips") == 3
-
-  # 每次 aspirate/dispense 都是单孔列表
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert aspirates[0]["resources"] == [sources[0]]
-  assert aspirates[0]["vols"] == [1.0]
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert dispenses[2]["resources"] == [targets[2]]
-  assert dispenses[2]["vols"] == [6.0]
-
-
-def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(16))
-
-  source = DummyContainer("S0")
-  target = DummyContainer("T0")
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[5],
-      dis_vols=[5],
-      mix_stage="before",
-      mix_times=1,
-      mix_vol=3,
-    )
-  )
-
-  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
-  assert len(aspirate_calls) >= 2
-  mix_idx, mix_payload = aspirate_calls[0]
-  assert mix_payload["resources"] == [target]
-  assert mix_payload["vols"] == [3]
-  transfer_idx, transfer_payload = aspirate_calls[1]
-  assert transfer_payload["resources"] == [source]
-  assert mix_idx < transfer_idx
-
-
-def test_one_to_one_eight_channel_groups_by_8():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(256))
-
-  sources = [DummyContainer(f"S{i}") for i in range(16)]
-  targets = [DummyContainer(f"T{i}") for i in range(16)]
-  asp_vols = list(range(1, 17))
-  dis_vols = list(range(101, 117))
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      mix_times=0,  # 触发逻辑但不 mix
-    )
-  )
-
-  # 16 个任务 -> 2 组，每组 8 通道一起做
-  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == 2
-  assert len(dispenses) == 2
-
-  assert aspirates[0]["resources"] == sources[0:8]
-  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
-  assert dispenses[1]["resources"] == targets[8:16]
-  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
-
-
-def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer(f"S{i}") for i in range(9)]
-  targets = [DummyContainer(f"T{i}") for i in range(9)]
-
-  with pytest.raises(ValueError, match="multiple of 8"):
-    run(
-      lh.transfer_liquid(
-        sources=sources,
-        targets=targets,
-        tip_racks=[],
-        use_channels=list(range(8)),
-        asp_vols=[1] * 9,
-        dis_vols=[1] * 9,
-        mix_times=0,
-      )
-    )
-
-
-def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(512))
-
-  sources = [DummyContainer(f"S{i}") for i in range(16)]
-  targets = [DummyContainer(f"T{i}") for i in range(16)]
-  asp_vols = [i + 1 for i in range(16)]
-  dis_vols = [200 + i for i in range(16)]
-  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
-  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
-  offsets = [f"offset_{i}" for i in range(16)]
-  liquid_heights = [i * 0.5 for i in range(16)]
-  blow_out_air_volume = [i + 0.05 for i in range(16)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      asp_flow_rates=asp_flow_rates,
-      dis_flow_rates=dis_flow_rates,
-      offsets=offsets,
-      liquid_height=liquid_heights,
-      blow_out_air_volume=blow_out_air_volume,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == len(dispenses) == 2
-
-  for batch_idx in range(2):
-    start = batch_idx * 8
-    end = start + 8
-    asp_call = aspirates[batch_idx]
-    dis_call = dispenses[batch_idx]
-    assert asp_call["resources"] == sources[start:end]
-    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
-    assert asp_call["offsets"] == offsets[start:end]
-    assert asp_call["liquid_height"] == liquid_heights[start:end]
-    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
-    assert dis_call["offsets"] == offsets[start:end]
-    assert dis_call["liquid_height"] == liquid_heights[start:end]
-    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-
-
-def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(1024))
-
-  sources = [DummyContainer(f"S{i}") for i in range(32)]
-  targets = [DummyContainer(f"T{i}") for i in range(32)]
-  asp_vols = [i + 1 for i in range(32)]
-  dis_vols = [300 + i for i in range(32)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(pick_calls) == 4
-  assert len(aspirates) == len(dispenses) == 4
-  assert aspirates[0]["resources"] == sources[0:8]
-  assert aspirates[-1]["resources"] == sources[24:32]
-  assert dispenses[0]["resources"] == targets[0:8]
-  assert dispenses[-1]["resources"] == targets[24:32]
-
-
-def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  source = DummyContainer("SRC")
-  targets = [DummyContainer(f"T{i}") for i in range(3)]
-  dis_vols = [10, 20, 30]  # sum=60
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=targets,
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert len(aspirates) == 1
-  assert aspirates[0]["resources"] == [source]
-  assert aspirates[0]["vols"] == [60.0]
-  assert aspirates[0]["use_channels"] == [0]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
-
-
-def test_one_to_many_eight_channel_basic():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  source = DummyContainer("SRC")
-  targets = [DummyContainer(f"T{i}") for i in range(8)]
-  dis_vols = [i + 1 for i in range(8)]
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert aspirates[0]["resources"] == [source] * 8
-  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert dispenses[0]["resources"] == targets
-  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  target = DummyContainer("T")
-  asp_vols = [5, 6, 7]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=asp_vols,
-      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
-      mix_times=0,
-    )
-  )
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
-  assert all(d["resources"] == [target] for d in dispenses)
-
-
-def test_many_to_one_single_channel_before_stage_mixes_target_once():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer("S0"), DummyContainer("S1")]
-  target = DummyContainer("T")
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[5, 6],
-      dis_vols=1,
-      mix_stage="before",
-      mix_times=2,
-      mix_vol=4,
-    )
-  )
-
-  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
-  assert len(aspirate_calls) >= 1
-  mix_idx, mix_payload = aspirate_calls[0]
-  assert mix_payload["resources"] == [target]
-  assert mix_payload["vols"] == [4]
-  # 第一個 mix 之後會真正開始吸 source
-  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
-
-
-def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  target = DummyContainer("T")
-  asp_vols = [5, 6, 7]
-  dis_vols = [1, 2, 3]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,  # 比例模式
-      mix_times=0,
-    )
-  )
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_eight_channel_basic():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(256))
-
-  sources = [DummyContainer(f"S{i}") for i in range(8)]
-  target = DummyContainer("T")
-  asp_vols = [10 + i for i in range(8)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert aspirates[0]["resources"] == sources
-  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
-  assert dispenses[0]["resources"] == [target] * 8
-  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
-
-
-def test_transfer_liquid_mode_detection_unsupported_shape_raises():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer("S0"), DummyContainer("S1")]
-  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
-
-  with pytest.raises(ValueError, match="Unsupported transfer mode"):
-    run(
-      lh.transfer_liquid(
-        sources=sources,
-        targets=targets,
-        tip_racks=[],
-        use_channels=[0],
-        asp_vols=[1, 1],
-        dis_vols=[1, 1, 1],
-        mix_times=0,
-      )
-    )
-
-
-def test_mix_single_target_produces_matching_cycles():
-  lh = FakeLiquidHandler(channel_num=1)
-  target = DummyContainer("T_mix")
-
-  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == len(dispenses) == 2
-  assert all(call["resources"] == [target] for call in aspirates)
-  assert all(call["vols"] == [5] for call in aspirates)
-  assert all(call["resources"] == [target] for call in dispenses)
-  assert all(call["vols"] == [5] for call in dispenses)
-
-
-def test_mix_multiple_targets_supports_per_target_offsets():
-  lh = FakeLiquidHandler(channel_num=1)
-  targets = [DummyContainer("T0"), DummyContainer("T1")]
-  offsets = ["left", "right"]
-  heights = [0.1, 0.2]
-  rates = [0.5, 1.0]
-
-  run(
-    lh.mix(
-      targets=targets,
-      mix_time=1,
-      mix_vol=3,
-      offsets=offsets,
-      height_to_bottom=heights,
-      mix_rate=rates,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert len(aspirates) == 2
-  assert aspirates[0]["resources"] == [targets[0]]
-  assert aspirates[0]["offsets"] == [offsets[0]]
-  assert aspirates[0]["liquid_height"] == [heights[0]]
-  assert aspirates[0]["flow_rates"] == [rates[0]]
-  assert aspirates[1]["resources"] == [targets[1]]
-  assert aspirates[1]["offsets"] == [offsets[1]]
-  assert aspirates[1]["liquid_height"] == [heights[1]]
-  assert aspirates[1]["flow_rates"] == [rates[1]]
-
-

tests/resources/test_resourcetreeset.py

@@ -2,8 +2,9 @@ import pytest
 import json
 import os
 
+from pylabrobot.resources import Resource as ResourcePLR
 from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.registry.registry import lab_registry
 
 from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck

tests/workflow/test.json

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

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.10.14"

unilabos/app/backend.py

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

unilabos/app/main.py

@@ -1,14 +1,13 @@
 import argparse
 import asyncio
 import os
-import platform
 import shutil
 import signal
-import subprocess
 import sys
 import threading
 import time
 from typing import Dict, Any, List
+
 import networkx as nx
 import yaml
 
@@ -18,93 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 
-# Global restart flags (used by ws_client and web/server)
-_restart_requested: bool = False
-_restart_reason: str = ""
-
-RESTART_EXIT_CODE = 42
-
-
-def _build_child_argv():
-    """Build sys.argv for child process, stripping supervisor-only arguments."""
-    result = []
-    skip_next = False
-    for arg in sys.argv:
-        if skip_next:
-            skip_next = False
-            continue
-        if arg in ("--restart_mode", "--restart-mode"):
-            continue
-        if arg in ("--auto_restart_count", "--auto-restart-count"):
-            skip_next = True
-            continue
-        if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
-            continue
-        result.append(arg)
-    return result
-
-
-def _run_as_supervisor(max_restarts: int):
-    """
-    Supervisor process that spawns and monitors child processes.
-
-    Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
-    it only launches the real process as a child and restarts it when the child
-    exits with RESTART_EXIT_CODE.
-    """
-    child_argv = [sys.executable] + _build_child_argv()
-    restart_count = 0
-
-    print_status(
-        f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
-        f"child command: {' '.join(child_argv)}",
-        "info",
-    )
-
-    while True:
-        print_status(
-            f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
-            "info",
-        )
-
-        try:
-            process = subprocess.Popen(child_argv)
-            exit_code = process.wait()
-        except KeyboardInterrupt:
-            print_status("[Supervisor] Interrupted, terminating child process...", "info")
-            process.terminate()
-            try:
-                process.wait(timeout=10)
-            except subprocess.TimeoutExpired:
-                process.kill()
-                process.wait()
-            sys.exit(1)
-
-        if exit_code == RESTART_EXIT_CODE:
-            restart_count += 1
-            if restart_count > max_restarts:
-                print_status(
-                    f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
-                    "warning",
-                )
-                sys.exit(1)
-            print_status(
-                f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
-                "info",
-            )
-            time.sleep(2)
-        else:
-            if exit_code != 0:
-                print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
-            else:
-                print_status("[Supervisor] Child exited normally", "info")
-            sys.exit(exit_code)
-
-
 def load_config_from_file(config_path):
     if config_path is None:
         config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
@@ -126,7 +41,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
+                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
                 sys.argv[i] = new_arg
                 break
 
@@ -134,8 +49,6 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
-    subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
-
     parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
     parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
     parser.add_argument(
@@ -145,13 +58,6 @@ def parse_args():
         action="append",
         help="Path to the registry directory",
     )
-    parser.add_argument(
-        "--devices",
-        type=str,
-        default=None,
-        action="append",
-        help="Path to Python code directory for AST-based device/resource scanning",
-    )
     parser.add_argument(
         "--working_dir",
         type=str,
@@ -241,91 +147,11 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
-    parser.add_argument(
-        "--check_mode",
-        action="store_true",
-        default=False,
-        help="Run in check mode for CI: validates registry imports and ensures no file changes",
-    )
     parser.add_argument(
         "--complete_registry",
         action="store_true",
         default=False,
-        help="Complete and rewrite YAML registry files using AST analysis results",
+        help="Complete registry information",
-    )
-    parser.add_argument(
-        "--no_update_feedback",
-        action="store_true",
-        help="Disable sending update feedback to server",
-    )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
-    parser.add_argument(
-        "--external_devices_only",
-        action="store_true",
-        default=False,
-        help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
-    )
-    parser.add_argument(
-        "--extra_resource",
-        action="store_true",
-        default=False,
-        help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
-    )
-    parser.add_argument(
-        "--restart_mode",
-        action="store_true",
-        default=False,
-        help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
-    )
-    parser.add_argument(
-        "--auto_restart_count",
-        type=int,
-        default=500,
-        help="Maximum number of automatic restarts in restart mode (default: 500)",
-    )
-    # workflow upload subcommand
-    workflow_parser = subparsers.add_parser(
-        "workflow_upload",
-        aliases=["wf"],
-        help="Upload workflow from xdl/json/python files",
-    )
-    workflow_parser.add_argument(
-        "-f",
-        "--workflow_file",
-        type=str,
-        required=True,
-        help="Path to the workflow file (JSON format)",
-    )
-    workflow_parser.add_argument(
-        "-n",
-        "--workflow_name",
-        type=str,
-        default=None,
-        help="Workflow name, if not provided will use the name from file or filename",
-    )
-    workflow_parser.add_argument(
-        "--tags",
-        type=str,
-        nargs="*",
-        default=[],
-        help="Tags for the workflow (space-separated)",
-    )
-    workflow_parser.add_argument(
-        "--published",
-        action="store_true",
-        default=False,
-        help="Whether to publish the workflow (default: False)",
-    )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
     )
     return parser
 
@@ -338,102 +164,62 @@ def main():
     args = parser.parse_args()
     args_dict = vars(args)
 
-    # Supervisor mode: spawn child processes and monitor for restart
-    if args_dict.get("restart_mode", False):
-        _run_as_supervisor(args_dict.get("auto_restart_count", 5))
-        return
-
     # 环境检查 - 检查并自动安装必需的包 (可选)
-    skip_env_check = args_dict.get("skip_env_check", False)
+    if not args_dict.get("skip_env_check", False):
-    check_mode = args_dict.get("check_mode", False)
+        from unilabos.utils.environment_check import check_environment
-
-    if not skip_env_check:
-        from unilabos.utils.environment_check import check_environment, check_device_package_requirements
 
+        print_status("正在进行环境依赖检查...", "info")
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
-
-        # 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
-        devices_dirs_for_req = args_dict.get("devices", None)
-        if devices_dirs_for_req:
-            if not check_device_package_requirements(devices_dirs_for_req):
-                print_status("设备包依赖检查失败，程序退出", "error")
-                os._exit(1)
     else:
         print_status("跳过环境依赖检查", "warning")
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-
+    if os.getcwd().endswith("unilabos_data"):
-    # === 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:
         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 args_dict.get("working_dir"):
-    if os.path.basename(working_dir) != "unilabos_data":
+        working_dir = args_dict.get("working_dir", "")
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
+        if config_path and not os.path.exists(config_path):
-        if os.path.isdir(unilabos_data_sub):
+            config_path = os.path.join(working_dir, "local_config.py")
-            working_dir = unilabos_data_sub
+            if not os.path.exists(config_path):
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
+                print_status(
-            # 未显式指定路径，默认使用 cwd/unilabos_data
+                    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",
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+                    "error",
-
-    # === 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,
                 )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                 os._exit(1)
-
+    elif config_path and os.path.exists(config_path):
-    # 加载配置文件 (check_mode 跳过)
+        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)
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -455,12 +241,9 @@ def main():
     if args_dict.get("sk", ""):
         BasicConfig.sk = args_dict.get("sk", "")
         print_status("传入了sk参数，优先采用传入参数！", "info")
-    BasicConfig.working_dir = working_dir
-
-    workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
 
     # 使用远程资源启动
-    if not workflow_upload and args_dict["use_remote_resource"]:
+    if args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
 
@@ -473,84 +256,37 @@ def main():
 
     BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
     BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
+    BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
-    BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
-    BasicConfig.extra_resource = args_dict.get("extra_resource", False)
-    if BasicConfig.extra_resource:
-        print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
     BasicConfig.communication_protocol = "websocket"
-    machine_name = platform.node()
+    machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]
-    BasicConfig.check_mode = check_mode
 
-    from unilabos.registry.registry import build_registry
-
-    # 显示启动横幅
-    print_unilab_banner(args_dict)
-
-    # Step 0: AST 分析优先 + YAML 注册表加载
-    # check_mode 和 upload_registry 都会执行实际 import 验证
-    devices_dirs = args_dict.get("devices", None)
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
-    external_only = args_dict.get("external_devices_only", False)
-    lab_registry = build_registry(
-        registry_paths=args_dict["registry_path"],
-        devices_dirs=devices_dirs,
-        upload_registry=BasicConfig.upload_registry,
-        check_mode=check_mode,
-        complete_registry=complete_registry,
-        external_only=external_only,
-    )
-
-    # Check mode: 注册表验证完成后直接退出
-    if check_mode:
-        device_count = len(lab_registry.device_type_registry)
-        resource_count = len(lab_registry.resource_type_registry)
-        print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
-        os._exit(0)
-
-    # 以下导入依赖 ROS2 环境，check_mode 已退出不需要
     from unilabos.resources.graphio import (
         read_node_link_json,
         read_graphml,
         dict_from_graph,
-        modify_to_backend_format,
     )
     from unilabos.app.communication import get_communication_client
+    from unilabos.registry.registry import build_registry
     from unilabos.app.backend import start_backend
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
     from unilabos.app.register import register_devices_and_resources
-    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
+    from unilabos.resources.graphio import modify_to_backend_format
+    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
-    # Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
+    # 显示启动横幅
-    if BasicConfig.upload_registry:
+    print_unilab_banner(args_dict)
-        if BasicConfig.ak and BasicConfig.sk:
-            # print_status("开始注册设备到服务端...", "info")
-            try:
-                register_devices_and_resources(lab_registry)
-                # print_status("设备注册完成", "info")
-            except Exception as e:
-                print_status(f"设备注册失败: {e}", "error")
-        else:
-            print_status("未提供 ak 和 sk，跳过设备注册", "info")
-    else:
-        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
 
-    # 处理 workflow_upload 子命令
+    # 注册表
-    if workflow_upload:
+    lab_registry = build_registry(
-        from unilabos.workflow.wf_utils import handle_workflow_upload_command
+        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
-
+    )
-        handle_workflow_upload_command(args_dict)
-        print_status("工作流上传完成，程序退出", "info")
-        os._exit(0)
 
     if not BasicConfig.ak or not BasicConfig.sk:
         print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
@@ -621,21 +357,31 @@ def main():
             continue
 
     # 如果从远端获取了物料信息，则与本地物料进行同步
-    if file_path is not None and request_startup_json and "nodes" in request_startup_json:
+    if request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
         remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
         resource_tree_set.merge_remote_resources(remote_tree_set)
         print_status("远端物料同步完成", "info")
 
-    # 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
-    # TODO: 当 community device package 功能上线后，在这里调用
-    #   install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
-
     # 使用 ResourceTreeSet 代替 list
     args_dict["resources_config"] = resource_tree_set
     args_dict["devices_config"] = resource_tree_set
     args_dict["graph"] = graph_res.physical_setup_graph
 
+    if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
+        if BasicConfig.ak and BasicConfig.sk:
+            print_status("开始注册设备到服务端...", "info")
+            try:
+                register_devices_and_resources(lab_registry)
+                print_status("设备注册完成", "info")
+            except Exception as e:
+                print_status(f"设备注册失败: {e}", "error")
+        else:
+            print_status("未提供 ak 和 sk，跳过设备注册", "info")
+    else:
+        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
+
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
     else:
@@ -650,7 +396,6 @@ def main():
         comm_client = get_communication_client()
         if "websocket" in args_dict["app_bridges"]:
             args_dict["bridges"].append(comm_client)
-
             def _exit(signum, frame):
                 comm_client.stop()
                 sys.exit(0)
@@ -692,13 +437,16 @@ def main():
                 resource_visualization.start()
             except OSError as e:
                 if "AMENT_PREFIX_PATH" in str(e):
-                    print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
+                    print_status(
+                        f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
+                        "warning"
+                    )
                     print_status(
                         "建议解决方案：\n"
                         "1. 激活Conda环境: conda activate unilab\n"
                         "2. 或使用 --backend simple 参数\n"
                         "3. 或使用 --visual disable 参数禁用可视化",
-                        "info",
+                        "info"
                     )
                 else:
                     raise
@@ -706,26 +454,16 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            restart_requested = start_server(
+            start_server(
                 open_browser=not args_dict["disable_browser"],
                 port=BasicConfig.port,
             )
-            if restart_requested:
-                print_status("[Main] Restart requested, cleaning up...", "info")
-                cleanup_for_restart()
-                return
     else:
         start_backend(**args_dict)
-
+        start_server(
-        # 启动服务器（默认支持WebSocket触发重启）
-        restart_requested = start_server(
             open_browser=not args_dict["disable_browser"],
             port=BasicConfig.port,
         )
-        if restart_requested:
-            print_status("[Main] Restart requested, cleaning up...", "info")
-            cleanup_for_restart()
-            os._exit(RESTART_EXIT_CODE)
 
 
 if __name__ == "__main__":

unilabos/app/model.py

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

unilabos/app/register.py

@@ -1,8 +1,9 @@
+import json
 import time
-from typing import Any, Dict, Optional, Tuple
+from typing import Optional, Tuple, Dict, Any
 
 from unilabos.utils.log import logger
-from unilabos.utils.tools import normalize_json as _normalize_device
+from unilabos.utils.type_check import TypeEncoder
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -10,63 +11,50 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
     注册设备和资源到服务器（仅支持HTTP）
     """
 
+    # 注册资源信息 - 使用HTTP方式
     from unilabos.app.web.client import http_client
 
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
+    # 注册设备信息
     devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = _normalize_device(device_info)
+        devices_to_register[device_info["id"]] = json.loads(
-        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
+            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
+        )
+        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
 
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
         resources_to_register[resource_info["id"]] = resource_info
-        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
     if gather_only:
         return devices_to_register, resources_to_register
-
+    # 注册设备
     if devices_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry(
+            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
-                {"resources": list(devices_to_register.values())},
-                tag="device_registry",
-            )
             cost_time = time.time() - start_time
-            res_data = response.json() if response.status_code == 200 else {}
+            if response.status_code in [200, 201]:
-            skipped = res_data.get("data", {}).get("skipped", False)
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
-            if skipped:
-                logger.info(
-                    f"[UniLab Register] 设备注册跳过（内容未变化）"
-                    f" {len(devices_to_register)} 个 {cost_time:.3f}s"
-                )
-            elif response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
+    # 注册资源
     if resources_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry(
+            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
-                {"resources": list(resources_to_register.values())},
-                tag="resource_registry",
-            )
             cost_time = time.time() - start_time
-            res_data = response.json() if response.status_code == 200 else {}
+            if response.status_code in [200, 201]:
-            skipped = res_data.get("data", {}).get("skipped", False)
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
-            if skipped:
-                logger.info(
-                    f"[UniLab Register] 资源注册跳过（内容未变化）"
-                    f" {len(resources_to_register)} 个 {cost_time:.3f}s"
-                )
-            elif response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
+
+    logger.info("[UniLab Register] 设备和资源注册完成.")

unilabos/app/utils.py

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

unilabos/app/web/api.py

@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
                                 "result": {},
                                 "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
                                 "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": {},
+                                "handles": [],
                             }
                             # 不生成已配置action的动作
                             for k, v in enhanced_info["action_methods"].items()
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
     # 启动广播任务
     @app.on_event("startup")
     async def startup_event():
-        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
+        asyncio.create_task(broadcast_device_status())
-        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
+        asyncio.create_task(broadcast_status_page_data())

unilabos/app/web/client.py

@@ -3,15 +3,15 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-import gzip
+
 import json
 import os
+import time
+from threading import Thread
 from typing import List, Dict, Any, Optional
 
-from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
-
 import requests
-from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
 from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
@@ -76,8 +76,7 @@ class HTTPClient:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
+            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
-            f.write(json.dumps(payload, indent=4))
         # 从序列化数据中提取所有节点的UUID（保存旧UUID）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         if not self.initialized or first_add:
@@ -282,54 +281,22 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(
+    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
-        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
-    ) -> requests.Response:
         """
-        注册资源到服务器，同步保存请求/响应到 unilabos_data
+        注册资源到服务器
 
         Args:
             registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
-            tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
 
         Returns:
             Response: API响应对象
         """
-        # 序列化一次，同时用于保存和发送
-        json_bytes = _fast_dumps(registry_data)
-
-        # 保存请求数据到 unilabos_data
-        req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
-        try:
-            os.makedirs(BasicConfig.working_dir, exist_ok=True)
-            with open(req_path, "wb") as f:
-                f.write(_fast_dumps_pretty(registry_data))
-            logger.trace(f"注册表请求数据已保存: {req_path}")
-        except Exception as e:
-            logger.warning(f"保存注册表请求数据失败: {e}")
-
-        compressed_body = gzip.compress(json_bytes)
-        headers = {
-            "Authorization": f"Lab {self.auth}",
-            "Content-Type": "application/json",
-            "Content-Encoding": "gzip",
-        }
         response = requests.post(
             f"{self.remote_addr}/lab/resource",
-            data=compressed_body,
+            json=registry_data,
-            headers=headers,
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=30,
         )
-
-        # 保存响应数据到 unilabos_data
-        res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
-        try:
-            with open(res_path, "w", encoding="utf-8") as f:
-                f.write(f"{response.status_code}\n{response.text}")
-            logger.trace(f"注册表响应数据已保存: {res_path}")
-        except Exception as e:
-            logger.warning(f"保存注册表响应数据失败: {e}")
-
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
         if response.status_code == 200:
@@ -368,106 +335,6 @@ class HTTPClient:
                 logger.error(f"响应内容: {response.text}")
         return None
 
-    def workflow_import(
-        self,
-        name: str,
-        workflow_uuid: str,
-        workflow_name: str,
-        nodes: List[Dict[str, Any]],
-        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
-
-        Args:
-            name: 工作流名称（顶层）
-            workflow_uuid: 工作流UUID
-            workflow_name: 工作流名称（data内部）
-            nodes: 工作流节点列表
-            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)
-        """
-        payload = {
-            "name": name,
-            "data": {
-                "workflow_uuid": workflow_uuid,
-                "workflow_name": workflow_name,
-                "nodes": nodes,
-                "edges": edges,
-                "tags": tags if tags is not None else [],
-            },
-        }
-        # 保存请求到文件
-        with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps(payload, indent=4, ensure_ascii=False))
-
-        response = requests.post(
-            f"{self.remote_addr}/lab/workflow/owner/import",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        # 保存响应到文件
-        with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
-            f.write(f"{response.status_code}" + "\n" + response.text)
-
-        if response.status_code == 200:
-            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

@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
             queue_item,
             action_type=action_type,
             action_kwargs=action_args,
-            sample_material=req.sample_material,
             server_info=server_info,
         )
 

unilabos/app/web/server.py

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

unilabos/app/ws_client.py

@@ -23,10 +23,9 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from typing_extensions import TypedDict
+from jedi.inference.gradual.typing import TypedDict
 
 from unilabos.app.model import JobAddReq
-from unilabos.resources.resource_tracker import ResourceDictType
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.app.communication import BaseCommunicationClient
@@ -77,7 +76,6 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
-    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -129,15 +127,6 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
-            # always_free的动作不受排队限制，直接设为READY
-            if job_info.always_free:
-                job_info.status = JobStatus.READY
-                job_info.update_timestamp()
-                job_info.set_ready_timeout(10)
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
-                return True
-
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -165,7 +154,7 @@ class DeviceActionManager:
             job_info.set_ready_timeout(10)  # 设置10秒超时
             self.active_jobs[device_key] = job_info
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -187,15 +176,11 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # always_free的job不需要检查active_jobs
+            # 检查设备上是否是这个job
-            if not job_info.always_free:
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                # 检查设备上是否是这个job
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    job_log = format_job_log(
+                return False
-                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
-                    )
-                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -218,13 +203,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理，不影响队列
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                job_info.update_timestamp()
-                del self.all_jobs[job_id]
-                return None
-
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -232,9 +210,8 @@ class DeviceActionManager:
                 job_info.update_timestamp()
                 # 从all_jobs中移除已结束的job
                 del self.all_jobs[job_id]
-                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                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}")
+                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
-                pass
             else:
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                 logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -250,20 +227,15 @@ class DeviceActionManager:
                 next_job_log = format_job_log(
                     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                 )
-                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
         with self.lock:
-            jobs = list(self.active_jobs.values())
+            return 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
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -288,14 +260,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
-                return True
-
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -304,7 +268,7 @@ class DeviceActionManager:
                 # 从all_jobs中移除
                 del self.all_jobs[job_id]
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
 
                 # 启动下一个任务
                 if device_key in self.device_queues and self.device_queues[device_key]:
@@ -317,7 +281,7 @@ class DeviceActionManager:
                     next_job_log = format_job_log(
                         next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -331,7 +295,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                     return True
 
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -369,18 +333,13 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
+            # 统计READY状态的任务数量
-            ready_candidates = list(self.active_jobs.values())
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
-            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)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in ready_candidates:
+            for job_info in self.active_jobs.values():
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -400,7 +359,7 @@ class MessageProcessor:
         self.device_manager = device_manager
         self.queue_processor = None  # 延迟设置
         self.websocket_client = None  # 延迟设置
-        self.session_id = str(uuid.uuid4())[:6]  # 产生一个随机的session_id
+        self.session_id = ""
 
         # WebSocket连接
         self.websocket = None
@@ -409,7 +368,6 @@ class MessageProcessor:
         # 线程控制
         self.is_running = False
         self.thread = None
-        self._loop = None  # asyncio event loop引用，用于外部关闭websocket
         self.reconnect_count = 0
 
         logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
@@ -436,31 +394,22 @@ class MessageProcessor:
     def stop(self) -> None:
         """停止消息处理线程"""
         self.is_running = False
-        # 主动关闭websocket以快速中断消息接收循环
-        ws = self.websocket
-        loop = self._loop
-        if ws and loop and loop.is_running():
-            try:
-                asyncio.run_coroutine_threadsafe(ws.close(), loop)
-            except Exception:
-                pass
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[MessageProcessor] Stopped")
 
     def _run(self):
         """运行消息处理主循环"""
-        self._loop = asyncio.new_event_loop()
+        loop = asyncio.new_event_loop()
         try:
-            asyncio.set_event_loop(self._loop)
+            asyncio.set_event_loop(loop)
-            self._loop.run_until_complete(self._connection_handler())
+            loop.run_until_complete(self._connection_handler())
         except Exception as e:
             logger.error(f"[MessageProcessor] Thread error: {str(e)}")
             logger.error(traceback.format_exc())
         finally:
-            if self._loop:
+            if loop:
-                self._loop.close()
+                loop.close()
-            self._loop = None
 
     async def _connection_handler(self):
         """处理WebSocket连接和重连逻辑"""
@@ -477,10 +426,8 @@ class MessageProcessor:
                 async with websockets.connect(
                     self.websocket_url,
                     ssl=ssl_context,
-                    open_timeout=20,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
-                    close_timeout=5,
                     additional_headers={
                         "Authorization": f"Lab {BasicConfig.auth_secret()}",
                         "EdgeSession": f"{self.session_id}",
@@ -491,98 +438,72 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
 
                     # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
+                    send_task = asyncio.create_task(self._send_handler())
-
-                    # 每次连接（含重连）后重新向服务端注册，
-                    # 否则服务端不知道客户端已上线，不会推送消息。
-                    if self.websocket_client:
-                        self.websocket_client.publish_host_ready()
 
                     try:
                         # 接收消息循环
                         await self._message_handler()
                     finally:
-                        # 必须在 async with __aexit__ 之前停止 send_task，
-                        # 否则 send_task 会在关闭握手期间继续发送数据，
-                        # 干扰 websockets 库的内部清理，导致 task 泄漏。
-                        self.connected = False
                         send_task.cancel()
                         try:
                             await send_task
                         except asyncio.CancelledError:
                             pass
+                        self.connected = False
 
             except websockets.exceptions.ConnectionClosed:
-                logger.warning("[MessageProcessor] 与服务端连接中断")
+                logger.warning("[MessageProcessor] Connection closed")
-            except TimeoutError:
-                logger.warning(
-                    f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
-                )
-            except websockets.exceptions.InvalidStatus as e:
-                logger.warning(
-                    f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
-                )
-            except Exception as e:
-                logger.error(traceback.format_exc())
-                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
-            finally:
                 self.connected = False
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
+                logger.error(traceback.format_exc())
+                self.connected = False
+            finally:
                 self.websocket = None
 
             # 重连逻辑
-            if not self.is_running:
+            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
-                break
-            if self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
-                backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
+                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(backoff)
+                await asyncio.sleep(WSConfig.reconnect_interval)
-            else:
+            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。
+        """处理接收到的消息"""
-
-        ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
-        以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
-        正确清理内部 task，避免 task 泄漏。
-        """
         if not self.websocket:
             logger.error("[MessageProcessor] WebSocket connection is None")
             return
 
-        async for message in self.websocket:
+        try:
-            try:
+            async for message in self.websocket:
-                data = json.loads(message)
+                try:
-                message_type = data.get("action", "")
+                    data = json.loads(message)
-                message_data = data.get("data")
+                    await self._process_message(data)
-                if self.session_id and self.session_id == data.get("edge_session"):
+                except json.JSONDecodeError:
-                    await self._process_message(message_type, message_data)
+                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-                else:
+                except Exception as e:
-                    if message_type.endswith("_material"):
+                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                        logger.trace(
+                    logger.error(traceback.format_exc())
-                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
+
-                        )
+        except websockets.exceptions.ConnectionClosed:
-                        logger.debug(
+            logger.info("[MessageProcessor] Message handler stopped - connection closed")
-                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
+        except Exception as e:
-                        )
+            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
-                    else:
+            logger.error(traceback.format_exc())
-                        await self._process_message(message_type, message_data)
-            except json.JSONDecodeError:
-                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-            except Exception as e:
-                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                logger.error(traceback.format_exc())
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
-        logger.trace("[MessageProcessor] Send handler started")
+        logger.debug("[MessageProcessor] Send handler started")
 
         try:
             while self.connected and self.websocket:
@@ -610,7 +531,7 @@ class MessageProcessor:
                         try:
                             message_str = json.dumps(msg, ensure_ascii=False)
                             await self.websocket.send(message_str)
-                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                         except Exception as e:
                             logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                             logger.error(traceback.format_exc())
@@ -627,16 +548,18 @@ class MessageProcessor:
 
         except asyncio.CancelledError:
             logger.debug("[MessageProcessor] Send handler cancelled")
-            raise
         except Exception as e:
             logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
             logger.error(traceback.format_exc())
         finally:
             logger.debug("[MessageProcessor] Send handler stopped")
 
-    async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
+    async def _process_message(self, data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
+        message_type = data.get("action", "")
+        message_data = data.get("data")
+
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -648,23 +571,16 @@ class MessageProcessor:
             elif message_type == "cancel_action" or message_type == "cancel_task":
                 await self._handle_cancel_action(message_data)
             elif message_type == "add_material":
-                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "add")
             elif message_type == "update_material":
-                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "update")
             elif message_type == "remove_material":
-                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "remove")
-            # elif message_type == "session_id":
+            elif message_type == "session_id":
-            #     self.session_id = message_data.get("session_id")
+                self.session_id = message_data.get("session_id")
-            #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
+                logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
-            elif message_type == "add_device":
+            elif message_type == "request_reload":
-                await self._handle_device_manage(message_data, "add")
+                await self._handle_request_reload(message_data)
-            elif message_type == "remove_device":
-                await self._handle_device_manage(message_data, "remove")
-            elif message_type == "request_restart":
-                await self._handle_request_restart(message_data)
             else:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -678,24 +594,6 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
-    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
-        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
-        try:
-            host_node = HostNode.get_instance(0)
-            if not host_node:
-                return False
-            # noinspection PyProtectedMember
-            action_mappings = host_node._action_value_mappings.get(device_id)
-            if not action_mappings:
-                return False
-            # 尝试直接匹配或 auto- 前缀匹配
-            for key in [action_name, f"auto-{action_name}"]:
-                if key in action_mappings:
-                    return action_mappings[key].get("always_free", False)
-            return False
-        except Exception:
-            return False
-
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -710,9 +608,6 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
-        # 检查action是否为always_free
-        action_always_free = self._check_action_always_free(device_id, action_name)
-
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -722,7 +617,6 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
-            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -734,13 +628,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", False, 10
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} queued")
+            logger.info(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -749,37 +643,9 @@ 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)
-
-            # 服务端对always_free动作可能跳过query_action_state直接发job_start，
-            # 此时job尚未注册，需要自动补注册
-            existing_job = self.device_manager.get_job_info(req.job_id)
-            if not existing_job:
-                action_name = req.action
-                device_action_key = f"/devices/{req.device_id}/{action_name}"
-                action_always_free = self._check_action_always_free(req.device_id, action_name)
-
-                if action_always_free:
-                    job_info = JobInfo(
-                        job_id=req.job_id,
-                        task_id=req.task_id,
-                        device_id=req.device_id,
-                        action_name=action_name,
-                        device_action_key=device_action_key,
-                        status=JobStatus.QUEUE,
-                        start_time=time.time(),
-                        always_free=True,
-                    )
-                    self.device_manager.add_queue_request(job_info)
-                    logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
-                else:
-                    logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
-                    return
-
             success = self.device_manager.start_job(req.job_id)
             if not success:
                 logger.error(f"[MessageProcessor] Failed to start job {job_log}")
@@ -808,7 +674,6 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
-                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -973,7 +838,9 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
+                    logger.info(
+                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -987,13 +854,11 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.trace(
+        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
-            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():
-            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
+            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
 
             def _notify_resource_tree(dev_id, act, item_list):
                 try:
@@ -1025,80 +890,19 @@ class MessageProcessor:
             )
             thread.start()
 
-    async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
+    async def _handle_request_reload(self, data: Dict[str, Any]):
-        """Handle add_device / remove_device from LabGo server."""
-        if not device_list:
-            return
-
-        for item in device_list:
-            target_node_id = item.get("target_node_id", "host_node")
-
-            def _notify(target_id: str, act: str, cfg: ResourceDictType):
-                try:
-                    host_node = HostNode.get_instance(timeout=5)
-                    if not host_node:
-                        logger.error(f"[DeviceManage] HostNode not available for {act}_device")
-                        return
-                    success = host_node.notify_device_manage(target_id, act, cfg)
-                    if success:
-                        logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
-                    else:
-                        logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
-                except Exception as e:
-                    logger.error(f"[DeviceManage] Error in {act}_device: {e}")
-                    logger.error(traceback.format_exc())
-
-            thread = threading.Thread(
-                target=_notify,
-                args=(target_node_id, action, item),
-                daemon=True,
-                name=f"DeviceManage-{action}-{item.get('id', '')}",
-            )
-            thread.start()
-
-    async def _handle_request_restart(self, data: Dict[str, Any]):
         """
-        处理重启请求
+        处理重载请求
-
+        
-        当LabGo发送request_restart时，执行清理并触发重启
+        当LabGo发送request_reload时，重新发送设备注册信息
         """
         reason = data.get("reason", "unknown")
-        delay = data.get("delay", 2)  # 默认延迟2秒
+        logger.info(f"[MessageProcessor] Received reload request, reason: {reason}")
-        logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
+        
-
+        # 重新发送host_node_ready信息
-        # 发送确认消息
+        if self.websocket_client:
-        self.send_message(
+            self.websocket_client.publish_host_ready()
-            {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
+            logger.info("[MessageProcessor] Re-sent host_node_ready after reload request")
-        )
-
-        # 设置全局重启标志
-        import unilabos.app.main as main_module
-
-        main_module._restart_requested = True
-        main_module._restart_reason = reason
-
-        # 延迟后执行清理
-        await asyncio.sleep(delay)
-
-        # 在新线程中执行清理，避免阻塞当前事件循环
-        def do_cleanup():
-            import time
-
-            time.sleep(0.5)  # 给当前消息处理完成的时间
-            logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
-            try:
-                from unilabos.app.utils import cleanup_for_restart
-
-                if cleanup_for_restart():
-                    logger.info("[MessageProcessor] Cleanup successful, main() will restart")
-                else:
-                    logger.error("[MessageProcessor] Cleanup failed")
-            except Exception as e:
-                logger.error(f"[MessageProcessor] Error during cleanup: {e}")
-
-        cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
-        cleanup_thread.start()
-        logger.info(f"[MessageProcessor] Restart cleanup scheduled")
 
     async def _send_action_state_response(
         self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
@@ -1171,14 +975,13 @@ class QueueProcessor:
     def stop(self) -> None:
         """停止队列处理线程"""
         self.is_running = False
-        self.queue_update_event.set()  # 立即唤醒等待中的线程
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[QueueProcessor] Stopped")
 
     def _run(self):
         """运行队列处理主循环"""
-        logger.trace("[QueueProcessor] Queue processor started")
+        logger.debug("[QueueProcessor] Queue processor started")
 
         while self.is_running:
             try:
@@ -1272,11 +1075,6 @@ 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": {
@@ -1292,7 +1090,7 @@ 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}")
 
@@ -1315,7 +1113,7 @@ 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)
@@ -1335,8 +1133,8 @@ 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)
+            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")
+            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()
@@ -1393,6 +1191,7 @@ class WebSocketClient(BaseCommunicationClient):
         else:
             url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
 
+        logger.debug(f"[WebSocketClient] URL: {url}")
         return url
 
     def start(self) -> None:
@@ -1405,11 +1204,13 @@ class WebSocketClient(BaseCommunicationClient):
             logger.error("[WebSocketClient] WebSocket URL not configured")
             return
 
+        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
+
         # 启动两个核心线程
         self.message_processor.start()
         self.queue_processor.start()
 
-        logger.trace("[WebSocketClient] All threads started")
+        logger.info("[WebSocketClient] All threads started")
 
     def stop(self) -> None:
         """停止WebSocket客户端"""
@@ -1425,8 +1226,8 @@ class WebSocketClient(BaseCommunicationClient):
                 message = {"action": "normal_exit", "data": {"session_id": session_id}}
                 self.message_processor.send_message(message)
                 logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
-                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
+                # 给一点时间让消息发送出去
-                time.sleep(0.3)
+                time.sleep(1)
             except Exception as e:
                 logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
 
@@ -1458,7 +1259,7 @@ 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
@@ -1478,7 +1279,7 @@ 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)
@@ -1539,17 +1340,15 @@ class WebSocketClient(BaseCommunicationClient):
         # 收集设备信息
         devices = []
         machine_name = BasicConfig.machine_name
-
+        
         try:
             host_node = HostNode.get_instance(0)
             if host_node:
                 # 获取设备信息
                 for device_id, namespace in host_node.devices_names.items():
-                    device_key = (
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
-                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
-                    )
                     is_online = device_key in host_node._online_devices
-
+                    
                     # 获取设备的动作信息
                     actions = {}
                     for action_id, client in host_node._action_clients.items():
@@ -1560,18 +1359,16 @@ class WebSocketClient(BaseCommunicationClient):
                                 "action_path": action_id,
                                 "action_type": str(type(client).__name__),
                             }
-
+                    
-                    devices.append(
+                    devices.append({
-                        {
+                        "device_id": device_id,
-                            "device_id": device_id,
+                        "namespace": namespace,
-                            "namespace": namespace,
+                        "device_key": device_key,
-                            "device_key": device_key,
+                        "is_online": is_online,
-                            "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
-                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
-                            "actions": actions,
+                    })
-                        }
+                
-                    )
-
                 logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
         except Exception as e:
             logger.warning(f"[WebSocketClient] Error collecting device info: {e}")

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:
+def is_integrated_pump(node_name):
-    """
+    return "pump" in node_name and "valve" in node_name
-    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 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, {})
+        if is_integrated_pump(G.nodes[node]["class"]):
-        node_class = node_data.get("class", "") or ""
-        if is_integrated_pump(node_class, node):
             pumps_from_node[node] = node
             valve_from_node[node] = node
             debug_print(f"  - 集成泵-阀: {node}")

unilabos/config/config.py

@@ -16,17 +16,12 @@ class BasicConfig:
     upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
-    no_update_feedback = False
     enable_resource_load = True
     communication_protocol = "websocket"
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
-    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
+    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
-    extra_resource = False  # 是否加载lab_开头的额外资源
-    # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
-    log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
     @classmethod
     def auth_secret(cls):
@@ -41,7 +36,7 @@ class BasicConfig:
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
     max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 20  # ping间隔（秒）
+    ping_interval = 30  # ping间隔（秒）
 
 
 # HTTP配置
@@ -70,14 +65,13 @@ def _update_config_from_module(module):
                     if not attr.startswith("_"):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
 
-
 def _update_config_from_env():
     prefix = "UNILABOS_"
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
-            key_path = env_key[len(prefix) :]  # Remove UNILAB_ prefix
+            key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
             class_field = key_path.upper().split("_", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
@@ -147,5 +141,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
         load_config(config_path)

unilabos/device_comms/coin_cell_assembly_workstation.py

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

unilabos/device_comms/universal_driver.py

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

unilabos/devices/liquid_handling/biomek.py

@@ -13,7 +13,7 @@ from pylabrobot.resources import (
 import copy
 from unilabos_msgs.msg import Resource
 
-from unilabos.resources.resource_tracker import DeviceNodeResourceTracker  # type: ignore
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker  # type: ignore
 
 
 class LiquidHandlerBiomek:

unilabos/devices/liquid_handling/prcxi/prcxi_modules.py

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

unilabos/devices/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/virtual/virtual_sample_demo.py

@@ -1,88 +0,0 @@
-"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
-
-import asyncio
-import logging
-import random
-import time
-from typing import Any, Dict, List, Optional
-
-
-class VirtualSampleDemo:
-    """虚拟样品追踪演示设备，提供两种典型返回模式：
-    - measure_samples: 等长输入输出 (前端按 index 自动对齐)
-    - split_and_measure: 输出比输入长，附带 samples 列标注归属
-    """
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop("id")
-        if config is None and "config" in kwargs:
-            config = kwargs.pop("config")
-
-        self.device_id = device_id or "unknown_sample_demo"
-        self.config = config or {}
-        self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
-        self.data: Dict[str, Any] = {"status": "Idle"}
-
-    # ------------------------------------------------------------------
-    # Action 1: 等长输入输出，无 samples 列
-    # ------------------------------------------------------------------
-    async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
-        """模拟光度测量。absorbance = concentration * 0.05 + noise
-
-        入参和出参 list 长度相等，前端按 index 自动对齐。
-        """
-        self.logger.info(f"measure_samples: concentrations={concentrations}")
-        absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
-        return {"concentrations": concentrations, "absorbance": absorbance}
-
-    # ------------------------------------------------------------------
-    # Action 2: 输出比输入长，带 samples 列
-    # ------------------------------------------------------------------
-    async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
-        """将每个样品均分为 split_count 份后逐份测量。
-
-        返回的 list 长度 = len(volumes) * split_count，
-        附带 samples 列标注每行属于第几个输入样品 (0-based index)。
-        """
-        self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
-        out_volumes: List[float] = []
-        readings: List[float] = []
-        samples: List[int] = []
-
-        for idx, vol in enumerate(volumes):
-            split_vol = round(vol / split_count, 2)
-            for _ in range(split_count):
-                out_volumes.append(split_vol)
-                readings.append(round(random.uniform(0.1, 1.0), 4))
-                samples.append(idx)
-
-        return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
-
-    # ------------------------------------------------------------------
-    # Action 3: 入参和出参都带 samples 列（不等长）
-    # ------------------------------------------------------------------
-    async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
-        """对 split_and_measure 的输出做二次分析。
-
-        入参 readings/samples 长度相同但 > 原始样品数，
-        出参同样带 samples 列，长度与入参一致。
-        """
-        self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
-        scores: List[float] = []
-        passed: List[bool] = []
-        threshold = 0.4
-
-        for r in readings:
-            score = round(r * 100 + random.gauss(0, 2), 2)
-            scores.append(score)
-            passed.append(r >= threshold)
-
-        return {"scores": scores, "passed": passed, "unilabos_samples": samples}
-
-    # ------------------------------------------------------------------
-    # 状态属性
-    # ------------------------------------------------------------------
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "Idle")

unilabos/devices/virtual/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.max_volume = float(config.get('max_volume', 25.0))
-            self.port = config.get("port", "VIRTUAL")
+            self.port = config.get('port', 'VIRTUAL')
         else:
-            self.max_volume = float(kwargs.get("max_volume", 25.0))
+            self.max_volume = float(kwargs.get('max_volume', 25.0))
-            self.port = kwargs.get("port", "VIRTUAL")
+            self.port = kwargs.get('port', 'VIRTUAL')
-
+        
-        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
+        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
-        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
+        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(
+        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")
-            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(
+            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
-                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 = (
+                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
-                        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(
+                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")
-                    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 (
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-            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

@@ -1,874 +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.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
-)
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
-
-
-# ============ 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
-    output_position: str
-    message: 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
-
-
-@device(
-    id="virtual_workbench",
-    category=["virtual_device"],
-    description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
-)
-class VirtualWorkbench:
-    """
-    Virtual Workbench Device - 虚拟工作台设备
-
-    模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒, 同一时间只能执行一个操作
-    - 加热台加热耗时10秒, 3个加热台可并行工作
-
-    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
-        self._arm_lock = Lock()
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task: Optional[str] = None
-
-        # 加热台状态
-        self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
-        }
-        self._stations_lock = RLock()
-
-        # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}
-        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}")
-
-        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
-
-        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"""
-        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)"""
-        self.logger.info(f"[{task_description}] 等待获取机械臂...")
-        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})")
-
-    @action(
-        auto_prefix=True,
-        description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
-        handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material",
-                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_2", data_type="workbench_material",
-                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_3", data_type="workbench_material",
-                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_4", data_type="workbench_material",
-                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_5", data_type="workbench_material",
-                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
-        ],
-    )
-    def prepare_materials(
-        self,
-        sample_uuids: SampleUUIDsType,
-        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。
-        """
-        materials = [i for i in range(1, count + 1)]
-
-        self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: 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() if content else {}),
-                )
-                for sample_uuid, content in sample_uuids.items()
-            ],
-        }
-
-    @action(
-        auto_prefix=True,
-        description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
-        handles=[
-            ActionInputHandle(key="material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
-                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
-                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
-        ],
-    )
-    def move_to_heating_station(
-        self,
-        sample_uuids: SampleUUIDsType,
-        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
-        """
-        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")
-
-        with self._tasks_lock:
-            self._active_tasks[material_id] = {
-                "status": "waiting_for_arm",
-                "start_time": time.time(),
-            }
-
-        try:
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "waiting_for_arm"
-            self._acquire_arm(task_desc)
-
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "finding_station"
-            station_id = None
-
-            while station_id is None:
-                station_id = self._find_available_heating_station()
-                if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
-                    self._release_arm()
-                    time.sleep(0.5)
-                    self._acquire_arm(task_desc)
-
-            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
-
-            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)
-
-            self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(
-                f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
-            )
-
-            self._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() if content else {})
-                        ),
-                    )
-                    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() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-    @action(
-        auto_prefix=True,
-        always_free=True,
-        description="启动指定加热台的加热程序",
-        handles=[
-            ActionInputHandle(key="station_id_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="material_number_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
-                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
-                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
-        ],
-    )
-    def start_heating(
-        self,
-        sample_uuids: SampleUUIDsType,
-        station_id: int,
-        material_number: int,
-    ) -> StartHeatingResult:
-        """
-        启动指定加热台的加热程序
-        """
-        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() if content else {})
-                        ),
-                    )
-                    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() if content else {})
-                            ),
-                        )
-                        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() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
-                }
-
-            material_id = station.current_material
-
-            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}")
-
-        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)}")
-
-        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}%")
-
-            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)
-
-        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() if content else {})
-                    ),
-                )
-                for sample_uuid, content in sample_uuids.items()
-            ],
-        }
-
-    @action(
-        auto_prefix=True,
-        description="将物料从加热台移动到输出位置Cn",
-        handles=[
-            ActionInputHandle(key="output_station_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="output_material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-        ],
-    )
-    def move_to_output(
-        self,
-        sample_uuids: SampleUUIDsType,
-        station_id: int,
-        material_number: int,
-    ) -> MoveToOutputResult:
-        """
-        将物料从加热台移动到输出位置Cn
-        """
-        output_number = material_number
-
-        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() if content else {})
-                        ),
-                    )
-                    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() if content else {})
-                            ),
-                        )
-                        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() if content else {})
-                            ),
-                        )
-                        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"
-
-            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"
-
-            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)
-
-            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
-
-            self._release_arm()
-
-            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() if content is not None else {})
-                        ),
-                    )
-                    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() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-    # ============ 状态属性 ============
-
-    @property
-    @topic_config()
-    def status(self) -> str:
-        return self.data.get("status", "Unknown")
-
-    @property
-    @topic_config()
-    def arm_state(self) -> str:
-        return self._arm_state.value
-
-    @property
-    @topic_config()
-    def arm_current_task(self) -> str:
-        return self._arm_current_task or ""
-
-    @property
-    @topic_config()
-    def heating_station_1_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.state.value if station else "unknown"
-
-    @property
-    @topic_config()
-    def heating_station_1_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.current_material or "" if station else ""
-
-    @property
-    @topic_config()
-    def heating_station_1_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.heating_progress if station else 0.0
-
-    @property
-    @topic_config()
-    def heating_station_2_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.state.value if station else "unknown"
-
-    @property
-    @topic_config()
-    def heating_station_2_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.current_material or "" if station else ""
-
-    @property
-    @topic_config()
-    def heating_station_2_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.heating_progress if station else 0.0
-
-    @property
-    @topic_config()
-    def heating_station_3_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.state.value if station else "unknown"
-
-    @property
-    @topic_config()
-    def heating_station_3_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.current_material or "" if station else ""
-
-    @property
-    @topic_config()
-    def heating_station_3_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.heating_progress if station else 0.0
-
-    @property
-    @topic_config()
-    def active_tasks_count(self) -> int:
-        with self._tasks_lock:
-            return len(self._active_tasks)
-
-    @property
-    @topic_config()
-    def message(self) -> str:
-        return self.data.get("message", "")

unilabos/registry/decorators.py

@@ -1,658 +0,0 @@
-"""
-装饰器注册表系统
-
-通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
-
-Usage:
-    from unilabos.registry.decorators import (
-        device, action, resource,
-        InputHandle, OutputHandle,
-        ActionInputHandle, ActionOutputHandle,
-        HardwareInterface, Side, DataSource, NodeType,
-    )
-
-    @device(
-        id="solenoid_valve.mock",
-        category=["pump_and_valve"],
-        description="模拟电磁阀设备",
-        handles=[
-            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
-            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
-        ],
-        hardware_interface=HardwareInterface(
-            name="hardware_interface",
-            read="send_command",
-            write="send_command",
-        ),
-    )
-    class SolenoidValveMock:
-        @action(action_type=EmptyIn)
-        def close(self):
-            ...
-
-        @action(
-            handles=[
-                ActionInputHandle(key="in", data_type="fluid", label="in"),
-                ActionOutputHandle(key="out", data_type="fluid", label="out"),
-            ],
-        )
-        def set_valve_position(self, position):
-            ...
-
-        # 无 @action 装饰器 => auto- 前缀动作
-        def is_open(self):
-            ...
-"""
-
-from enum import Enum
-from functools import wraps
-from typing import Any, Callable, Dict, List, Optional, TypeVar
-
-from pydantic import BaseModel, ConfigDict, Field
-
-F = TypeVar("F", bound=Callable[..., Any])
-
-# ---------------------------------------------------------------------------
-# 枚举
-# ---------------------------------------------------------------------------
-
-
-class Side(str, Enum):
-    """UI 上 Handle 的显示位置"""
-
-    NORTH = "NORTH"
-    SOUTH = "SOUTH"
-    EAST = "EAST"
-    WEST = "WEST"
-
-
-class DataSource(str, Enum):
-    """Handle 的数据来源"""
-
-    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
-    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
-
-
-class NodeType(str, Enum):
-    """动作的节点类型（用于区分 ILab 节点和人工确认节点等）"""
-
-    ILAB = "ILab"
-    MANUAL_CONFIRM = "manual_confirm"
-
-
-# ---------------------------------------------------------------------------
-# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
-# ---------------------------------------------------------------------------
-
-
-class _DeviceHandleBase(BaseModel):
-    """设备/资源端口基类 (内部使用)"""
-
-    model_config = ConfigDict(populate_by_name=True)
-
-    key: str = Field(serialization_alias="handler_key")
-    data_type: str
-    label: str
-    side: Optional[Side] = None
-    data_key: Optional[str] = None
-    data_source: Optional[str] = None
-    description: Optional[str] = None
-
-    # 子类覆盖
-    io_type: str = ""
-
-    def to_registry_dict(self) -> Dict[str, Any]:
-        return self.model_dump(by_alias=True, exclude_none=True)
-
-
-class InputHandle(_DeviceHandleBase):
-    """
-    输入端口 (io_type="target"), 用于 @device / @resource handles
-
-    Example:
-        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
-    """
-
-    io_type: str = "target"
-
-
-class OutputHandle(_DeviceHandleBase):
-    """
-    输出端口 (io_type="source"), 用于 @device / @resource handles
-
-    Example:
-        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
-    """
-
-    io_type: str = "source"
-
-
-# ---------------------------------------------------------------------------
-# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
-# ---------------------------------------------------------------------------
-
-
-class _ActionHandleBase(BaseModel):
-    """动作端口基类 (内部使用)"""
-
-    model_config = ConfigDict(populate_by_name=True)
-
-    key: str = Field(serialization_alias="handler_key")
-    data_type: str
-    label: str
-    side: Optional[Side] = None
-    data_key: Optional[str] = None
-    data_source: Optional[str] = None
-    description: Optional[str] = None
-    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
-
-    def to_registry_dict(self) -> Dict[str, Any]:
-        return self.model_dump(by_alias=True, exclude_none=True)
-
-
-class ActionInputHandle(_ActionHandleBase):
-    """
-    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
-
-    Example:
-        ActionInputHandle(
-            key="material_input", data_type="workbench_material",
-            label="物料编号", data_key="material_number", data_source="handle",
-        )
-    """
-
-    pass
-
-
-class ActionOutputHandle(_ActionHandleBase):
-    """
-    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
-
-    Example:
-        ActionOutputHandle(
-            key="station_output", data_type="workbench_station",
-            label="加热台ID", data_key="station_id", data_source="executor",
-        )
-    """
-
-    pass
-
-
-# ---------------------------------------------------------------------------
-# HardwareInterface
-# ---------------------------------------------------------------------------
-
-
-class HardwareInterface(BaseModel):
-    """
-    硬件通信接口定义
-
-    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
-
-    Example:
-        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
-    """
-
-    name: str
-    read: Optional[str] = None
-    write: Optional[str] = None
-    extra_info: Optional[List[str]] = None
-
-
-# ---------------------------------------------------------------------------
-# 全局注册表 -- 记录所有被装饰器标记的类/函数
-# ---------------------------------------------------------------------------
-_registered_devices: Dict[str, type] = {}  # device_id -> class
-_registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
-
-
-def _device_handles_to_list(
-    handles: Optional[List[_DeviceHandleBase]],
-) -> List[Dict[str, Any]]:
-    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
-    if handles is None:
-        return []
-    return [h.to_registry_dict() for h in handles]
-
-
-def _action_handles_to_dict(
-    handles: Optional[List[_ActionHandleBase]],
-) -> Dict[str, Any]:
-    """
-    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
-
-    ActionInputHandle => "input", ActionOutputHandle => "output"
-    """
-    if handles is None:
-        return {}
-    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
-    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
-    result: Dict[str, Any] = {}
-    if input_list:
-        result["input"] = input_list
-    if output_list:
-        result["output"] = output_list
-    return result
-
-
-# ---------------------------------------------------------------------------
-# @device 类装饰器
-# ---------------------------------------------------------------------------
-
-
-# noinspection PyShadowingBuiltins
-def device(
-    id: Optional[str] = None,
-    ids: Optional[List[str]] = None,
-    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
-    category: Optional[List[str]] = None,
-    description: str = "",
-    display_name: str = "",
-    icon: str = "",
-    version: str = "1.0.0",
-    handles: Optional[List[_DeviceHandleBase]] = None,
-    model: Optional[Dict[str, Any]] = None,
-    device_type: str = "python",
-    hardware_interface: Optional[HardwareInterface] = None,
-):
-    """
-    设备类装饰器
-
-    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
-
-    支持两种模式:
-      1. 单设备: id="xxx", category=[...]
-      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
-
-    Args:
-        id: 单设备时的注册表唯一标识
-        ids: 多设备时的 id 列表，与 id_meta 配合使用
-        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
-        category: 设备分类标签列表 (必填)
-        description: 设备描述
-        display_name: 人类可读的设备显示名称，缺失时默认使用 id
-        icon: 图标路径
-        version: 版本号
-        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
-        model: 可选的 3D 模型配置
-        device_type: 设备实现类型 ("python" / "ros2")
-        hardware_interface: 硬件通信接口 (HardwareInterface)
-    """
-    # Resolve device ids
-    if ids is not None:
-        device_ids = list(ids)
-        if not device_ids:
-            raise ValueError("@device ids 不能为空")
-        id_meta = id_meta or {}
-    elif id is not None:
-        device_ids = [id]
-        id_meta = {}
-    else:
-        raise ValueError("@device 必须提供 id 或 ids")
-
-    if category is None:
-        raise ValueError("@device category 必填")
-
-    base_meta = {
-        "category": category,
-        "description": description,
-        "display_name": display_name,
-        "icon": icon,
-        "version": version,
-        "handles": _device_handles_to_list(handles),
-        "model": model,
-        "device_type": device_type,
-        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
-    }
-
-    def decorator(cls):
-        cls._device_registry_meta = base_meta
-        cls._device_registry_id_meta = id_meta
-        cls._device_registry_ids = device_ids
-
-        for did in device_ids:
-            if did in _registered_devices:
-                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
-            _registered_devices[did] = cls
-
-        return cls
-
-    return decorator
-
-
-# ---------------------------------------------------------------------------
-# @action 方法装饰器
-# ---------------------------------------------------------------------------
-
-# 区分 "用户没传 action_type" 和 "用户传了 None"
-_ACTION_TYPE_UNSET = object()
-
-
-# noinspection PyShadowingNames
-def action(
-    action_type: Any = _ACTION_TYPE_UNSET,
-    goal: Optional[Dict[str, str]] = None,
-    feedback: Optional[Dict[str, str]] = None,
-    result: Optional[Dict[str, str]] = None,
-    handles: Optional[List[_ActionHandleBase]] = None,
-    goal_default: Optional[Dict[str, Any]] = None,
-    placeholder_keys: Optional[Dict[str, str]] = None,
-    always_free: bool = False,
-    is_protocol: bool = False,
-    description: str = "",
-    auto_prefix: bool = False,
-    parent: bool = False,
-    node_type: Optional["NodeType"] = None,
-):
-    """
-    动作方法装饰器
-
-    标记方法为注册表动作。有三种用法:
-      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
-      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
-      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
-
-    Protocol 用法:
-      @action(action_type=Add, is_protocol=True)
-      def AddProtocol(self): ...
-      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
-      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
-
-    Args:
-        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
-                     不传/默认 = UniLabJsonCommand (非 auto).
-        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
-              protocol 模式下可留空，系统自动生成 identity 映射.
-        feedback: Feedback 字段映射
-        result: Result 字段映射
-        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
-        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
-        placeholder_keys: 参数占位符配置
-        always_free: 是否为永久闲置动作 (不受排队限制)
-        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
-        description: 动作描述
-        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
-        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
-        node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。
-                   不填写时不写入注册表。
-    """
-
-    def decorator(func: F) -> F:
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            return func(*args, **kwargs)
-
-        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
-        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
-
-        meta = {
-            "action_type": resolved_type,
-            "goal": goal or {},
-            "feedback": feedback or {},
-            "result": result or {},
-            "handles": _action_handles_to_dict(handles),
-            "goal_default": goal_default or {},
-            "placeholder_keys": placeholder_keys or {},
-            "always_free": always_free,
-            "is_protocol": is_protocol,
-            "description": description,
-            "auto_prefix": auto_prefix,
-            "parent": parent,
-        }
-        if node_type is not None:
-            meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
-        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
-
-        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
-        if always_free:
-            wrapper._is_always_free = True  # type: ignore[attr-defined]
-
-        return wrapper  # type: ignore[return-value]
-
-    return decorator
-
-
-def get_action_meta(func) -> Optional[Dict[str, Any]]:
-    """获取方法上的 @action 装饰器元数据"""
-    return getattr(func, "_action_registry_meta", None)
-
-
-def has_action_decorator(func) -> bool:
-    """检查函数是否带有 @action 装饰器"""
-    return hasattr(func, "_action_registry_meta")
-
-
-# ---------------------------------------------------------------------------
-# @resource 类/函数装饰器
-# ---------------------------------------------------------------------------
-
-
-def resource(
-    id: str,
-    category: List[str],
-    description: str = "",
-    icon: str = "",
-    version: str = "1.0.0",
-    handles: Optional[List[_DeviceHandleBase]] = None,
-    model: Optional[Dict[str, Any]] = None,
-    class_type: str = "pylabrobot",
-):
-    """
-    资源类/函数装饰器
-
-    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
-
-    Args:
-        id: 注册表唯一标识 (必填, 不可重复)
-        category: 资源分类标签列表 (必填)
-        description: 资源描述
-        icon: 图标路径
-        version: 版本号
-        handles: 端口列表 (InputHandle / OutputHandle)
-        model: 可选的 3D 模型配置
-        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
-    """
-
-    def decorator(obj):
-        meta = {
-            "resource_id": id,
-            "category": category,
-            "description": description,
-            "icon": icon,
-            "version": version,
-            "handles": _device_handles_to_list(handles),
-            "model": model,
-            "class_type": class_type,
-        }
-        obj._resource_registry_meta = meta
-
-        if id in _registered_resources:
-            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
-        _registered_resources[id] = obj
-
-        return obj
-
-    return decorator
-
-
-def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
-    """
-    获取类上的 @device 装饰器元数据。
-
-    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
-    (base_meta 与 id_meta[device_id] 深度合并)。
-    """
-    base = getattr(cls, "_device_registry_meta", None)
-    if base is None:
-        return None
-    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
-    if device_id is None or device_id not in id_meta:
-        result = dict(base)
-        ids = getattr(cls, "_device_registry_ids", None)
-        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
-        return result
-
-    overrides = id_meta[device_id]
-    result = dict(base)
-    result["device_id"] = device_id
-    for key in ["handles", "description", "icon", "model"]:
-        if key in overrides:
-            val = overrides[key]
-            if key == "handles" and isinstance(val, list):
-                # handles 必须是 Handle 对象列表
-                result[key] = [h.to_registry_dict() for h in val]
-            else:
-                result[key] = val
-    return result
-
-
-def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
-    """获取对象上的 @resource 装饰器元数据"""
-    return getattr(obj, "_resource_registry_meta", None)
-
-
-def get_all_registered_devices() -> Dict[str, type]:
-    """获取所有已注册的设备类"""
-    return _registered_devices.copy()
-
-
-def get_all_registered_resources() -> Dict[str, Any]:
-    """获取所有已注册的资源"""
-    return _registered_resources.copy()
-
-
-def clear_registry():
-    """清空全局注册表 (用于测试)"""
-    _registered_devices.clear()
-    _registered_resources.clear()
-
-
-# ---------------------------------------------------------------------------
-# 枚举值归一化
-# ---------------------------------------------------------------------------
-
-
-def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]:
-    """将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。
-
-    适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。
-
-    处理以下格式:
-      - "MANUAL_CONFIRM"  →  NodeType["MANUAL_CONFIRM"].value = "manual_confirm"
-      - "manual_confirm"  →  NodeType("manual_confirm").value = "manual_confirm"
-      - "HANDLE"          →  DataSource["HANDLE"].value = "handle"
-      - "NORTH"           →  Side["NORTH"].value = "NORTH"
-      - 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找
-    """
-    if not raw:
-        return None
-    raw_str = str(raw)
-    if "." in raw_str:
-        raw_str = raw_str.rsplit(".", 1)[-1]
-    try:
-        return enum_cls[raw_str].value
-    except KeyError:
-        pass
-    try:
-        return enum_cls(raw_str).value
-    except ValueError:
-        return raw_str
-
-
-# ---------------------------------------------------------------------------
-# topic_config / not_action / always_free 装饰器
-# ---------------------------------------------------------------------------
-
-
-def topic_config(
-    period: Optional[float] = None,
-    print_publish: Optional[bool] = None,
-    qos: Optional[int] = None,
-    name: Optional[str] = None,
-) -> Callable[[F], F]:
-    """
-    Topic发布配置装饰器
-
-    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
-
-    Args:
-        period: 发布周期（秒）。None 表示使用默认值 5.0
-        print_publish: 是否打印发布日志。None 表示使用节点默认配置
-        qos: QoS深度配置。None 表示使用默认值 10
-        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
-
-    Note:
-        与 @property 连用时，@topic_config 必须放在 @property 下面，
-        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
-    """
-
-    def decorator(func: F) -> F:
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            return func(*args, **kwargs)
-
-        wrapper._topic_period = period  # type: ignore[attr-defined]
-        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
-        wrapper._topic_qos = qos  # type: ignore[attr-defined]
-        wrapper._topic_name = name  # type: ignore[attr-defined]
-        wrapper._has_topic_config = True  # type: ignore[attr-defined]
-
-        return wrapper  # type: ignore[return-value]
-
-    return decorator
-
-
-def get_topic_config(func) -> dict:
-    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
-    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
-        return {
-            "period": getattr(func, "_topic_period", None),
-            "print_publish": getattr(func, "_topic_print_publish", None),
-            "qos": getattr(func, "_topic_qos", None),
-            "name": getattr(func, "_topic_name", None),
-        }
-    return {}
-
-
-def always_free(func: F) -> F:
-    """
-    标记动作为永久闲置(不受busy队列限制)的装饰器
-
-    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
-    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
-    """
-
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        return func(*args, **kwargs)
-
-    wrapper._is_always_free = True  # type: ignore[attr-defined]
-
-    return wrapper  # type: ignore[return-value]
-
-
-def is_always_free(func) -> bool:
-    """检查函数是否被标记为永久闲置"""
-    return getattr(func, "_is_always_free", False)
-
-
-def not_action(func: F) -> F:
-    """
-    标记方法为非动作的装饰器
-
-    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
-    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
-    """
-
-    @wraps(func)
-    def wrapper(*args, **kwargs):
-        return func(*args, **kwargs)
-
-    wrapper._is_not_action = True  # type: ignore[attr-defined]
-
-    return wrapper  # type: ignore[return-value]
-
-
-def is_not_action(func) -> bool:
-    """检查函数是否被标记为非动作"""
-    return getattr(func, "_is_not_action", False)

unilabos/registry/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/Qone_nmr.yaml

@@ -13,18 +13,21 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -68,6 +71,31 @@ Qone_nmr:
           title: monitor_folder_for_new_content参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-strings_to_txt:
         feedback: {}
         goal: {}
@@ -110,18 +138,21 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -136,31 +167,32 @@ Qone_nmr:
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -24,321 +24,39 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: brief_step_parameters参数
           type: object
         type: UniLabJsonCommand
-      auto-process_order_finish_report:
+      auto-compute_experiment_design:
         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:
-              type: object
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result:
-              type: object
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result:
-              type: object
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
-      batch_create_90_10_vial_feeding_tasks:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          liquid_material_name: liquid_material_name
-          speed: speed
-          temperature: temperature
-          titration: titration
-        goal_default:
-          delay_time: null
-          hold_m_name: null
-          liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
-        handles:
-          input:
-          - data_key: titration
-            data_source: handle
-            data_type: object
-            handler_key: titration
-            io_type: source
-            label: Titration Data From Calculation Node
-          output:
-          - data_key: return_info
-            data_source: executor
-            data_type: string
-            handler_key: BATCH_CREATE_RESULT
-            io_type: sink
-            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
-          properties:
-            feedback:
-              title: BatchCreate9010VialFeedingTasks_Feedback
-            goal:
-              properties:
-                delay_time:
-                  description: 延迟时间(秒),默认600
-                  type: string
-                hold_m_name:
-                  description: 库位名称,如"C01",必填参数
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  description: 10%物料的液体物料名称,默认为"NMP"
-                  type: string
-                speed:
-                  description: 搅拌速度,默认400
-                  type: string
-                temperature:
-                  description: 温度(℃),默认40
-                  type: string
-                titration:
-                  description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
-                    titration_solvent(滴定溶液体积mL)'
-                  type: string
-              required:
-              - titration
-              title: BatchCreate9010VialFeedingTasks_Goal
-              type: object
-            result:
-              title: BatchCreate9010VialFeedingTasks_Result
-              type: string
-          required:
-          - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      batch_create_diamine_solution_tasks:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          liquid_material_name: liquid_material_name
-          solutions: solutions
-          speed: speed
-          temperature: temperature
-        goal_default:
-          delay_time: null
-          liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
-        handles:
-          input:
-          - data_key: solutions
-            data_source: handle
-            data_type: array
-            handler_key: solutions
-            io_type: source
-            label: Solution Data From Python
-          output:
-          - data_key: return_info
-            data_source: executor
-            data_type: string
-            handler_key: BATCH_CREATE_RESULT
-            io_type: sink
-            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
-          properties:
-            feedback:
-              title: BatchCreateDiamineSolutionTasks_Feedback
-            goal:
-              properties:
-                delay_time:
-                  description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
-                  type: string
-                solutions:
-                  description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
-                    solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
-                    5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
-                    4.5, "solvent_volume": 18}]'
-                  type: string
-                speed:
-                  description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
-                  type: string
-                temperature:
-                  description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
-                  type: string
-              required:
-              - solutions
-              title: BatchCreateDiamineSolutionTasks_Goal
-              type: object
-            result:
-              title: BatchCreateDiamineSolutionTasks_Result
-              type: string
-          required:
-          - goal
-          title: batch_create_diamine_solution_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      compute_experiment_design:
-        feedback: {}
-        goal:
-          m_tot: m_tot
-          ratio: ratio
-          titration_percent: titration_percent
-          wt_percent: wt_percent
         goal_default:
           m_tot: '70'
           ratio: null
           titration_percent: '0.03'
           wt_percent: '0.25'
-        handles:
+        handles: {}
-          output:
-          - data_key: solutions
-            data_source: executor
-            data_type: array
-            handler_key: solutions
-            io_type: sink
-            label: Solution Data From Python
-          - data_key: titration
-            data_source: executor
-            data_type: object
-            handler_key: titration
-            io_type: sink
-            label: Titration Data From Calculation Node
-          - data_key: solvents
-            data_source: executor
-            data_type: object
-            handler_key: solvents
-            io_type: sink
-            label: Solvents Data From Calculation Node
-          - data_key: feeding_order
-            data_source: executor
-            data_type: array
-            handler_key: feeding_order
-            io_type: sink
-            label: Feeding Order Data From Calculation Node
         placeholder_keys: {}
         result: {}
         schema:
-          description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
+          description: ''
           properties:
             feedback: {}
             goal:
               properties:
                 m_tot:
                   default: '70'
-                  description: 总质量(g)
                   type: string
                 ratio:
-                  description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
                   type: object
                 titration_percent:
                   default: '0.03'
-                  description: 滴定比例(10%部分)
                   type: string
                 wt_percent:
                   default: '0.25'
-                  description: 目标固含质量分数
                   type: string
               required:
               - ratio
@@ -377,6 +95,305 @@ bioyond_dispensing_station:
           title: compute_experiment_design参数
           type: object
         type: UniLabJsonCommand
+      auto-process_order_finish_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+          used_materials: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+                used_materials:
+                  type: string
+              required:
+              - report_request
+              - used_materials
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_order_finish_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
+      batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          speed: speed
+          temperature: temperature
+          titration: titration
+        goal_default:
+          delay_time: '600'
+          hold_m_name: ''
+          liquid_material_name: NMP
+          speed: '400'
+          temperature: '40'
+          titration: ''
+        handles:
+          input:
+          - data_key: titration
+            data_source: handle
+            data_type: object
+            handler_key: titration
+            io_type: source
+            label: Titration Data From Calculation Node
+          output:
+          - data_key: return_info
+            data_source: executor
+            data_type: string
+            handler_key: BATCH_CREATE_RESULT
+            io_type: sink
+            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
+        result:
+          return_info: return_info
+        schema:
+          description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BatchCreate9010VialFeedingTasks_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(秒),默认600
+                  type: string
+                hold_m_name:
+                  description: 库位名称,如"C01",必填参数
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 10%物料的液体物料名称,默认为"NMP"
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度,默认400
+                  type: string
+                temperature:
+                  default: '40'
+                  description: 温度(℃),默认40
+                  type: string
+                titration:
+                  description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
+                    titration_solvent(滴定溶液体积mL)'
+                  type: string
+              required:
+              - titration
+              - hold_m_name
+              title: BatchCreate9010VialFeedingTasks_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
+                  type: string
+              required:
+              - return_info
+              title: BatchCreate9010VialFeedingTasks_Result
+              type: object
+          required:
+          - goal
+          title: BatchCreate9010VialFeedingTasks
+          type: object
+        type: UniLabJsonCommand
+      batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          liquid_material_name: liquid_material_name
+          solutions: solutions
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: '600'
+          liquid_material_name: NMP
+          solutions: ''
+          speed: '400'
+          temperature: '20'
+        handles:
+          input:
+          - data_key: solutions
+            data_source: handle
+            data_type: array
+            handler_key: solutions
+            io_type: source
+            label: Solution Data From Python
+          output:
+          - data_key: return_info
+            data_source: executor
+            data_type: string
+            handler_key: BATCH_CREATE_RESULT
+            io_type: sink
+            label: Complete Batch Create Result JSON (contains order_codes and order_ids)
+        result:
+          return_info: return_info
+        schema:
+          description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BatchCreateDiamineSolutionTasks_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
+                  type: string
+                solutions:
+                  description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
+                    solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
+                    5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
+                    4.5, "solvent_volume": 18}]'
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
+                  type: string
+              required:
+              - solutions
+              title: BatchCreateDiamineSolutionTasks_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
+                  type: string
+              required:
+              - return_info
+              title: BatchCreateDiamineSolutionTasks_Result
+              type: object
+          required:
+          - goal
+          title: BatchCreateDiamineSolutionTasks
+          type: object
+        type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
         feedback: {}
         goal:
@@ -428,18 +445,17 @@ bioyond_dispensing_station:
           speed: ''
           temperature: ''
         handles: {}
-        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: DispenStationVialFeed_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -487,13 +503,38 @@ bioyond_dispensing_station:
                   type: string
                 temperature:
                   type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
               title: DispenStationVialFeed_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: DispenStationVialFeed_Result
               type: object
           required:
@@ -524,18 +565,17 @@ bioyond_dispensing_station:
           temperature: ''
           volume: ''
         handles: {}
-        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: DispenStationSolnPrep_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -555,13 +595,24 @@ bioyond_dispensing_station:
                   type: string
                 volume:
                   type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
               title: DispenStationSolnPrep_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: DispenStationSolnPrep_Result
               type: object
           required:
@@ -569,64 +620,6 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
-      scheduler_start:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              title: scheduler_start结果
-              type: object
-          required:
-          - goal
-          title: scheduler_start参数
-          type: object
-        type: UniLabJsonCommand
-      transfer_materials_to_reaction_station:
-        feedback: {}
-        goal:
-          target_device_id: target_device_id
-          transfer_groups: transfer_groups
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys:
-          target_device_id: unilabos_devices
-        result: {}
-        schema:
-          description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
-                  type: string
-                transfer_groups:
-                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result:
-              type: object
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
       wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal:
@@ -634,9 +627,9 @@ bioyond_dispensing_station:
           check_interval: check_interval
           timeout: timeout
         goal_default:
-          batch_create_result: null
+          batch_create_result: ''
-          check_interval: 10
+          check_interval: '10'
-          timeout: 7200
+          timeout: '7200'
         handles:
           input:
           - data_key: batch_create_result
@@ -652,38 +645,50 @@ bioyond_dispensing_station:
             handler_key: batch_reports_result
             io_type: sink
             label: Batch Order Completion Reports
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
         schema:
           description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
           properties:
             feedback:
+              properties: {}
+              required: []
               title: WaitForMultipleOrdersAndGetReports_Feedback
+              type: object
             goal:
               properties:
                 batch_create_result:
                   description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
                   type: string
                 check_interval:
-                  default: 10
+                  default: '10'
                   description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
-                  type: integer
+                  type: string
                 timeout:
-                  default: 7200
+                  default: '7200'
                   description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
-                  type: integer
+                  type: string
-              required: []
+              required:
+              - batch_create_result
               title: WaitForMultipleOrdersAndGetReports_Goal
               type: object
             result:
+              properties:
+                return_info:
+                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
+                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
+                    order_id, status, completion_status, report, elapsed_time)'
+                  type: string
+              required:
+              - return_info
               title: WaitForMultipleOrdersAndGetReports_Result
               type: object
           required:
           - goal
-          title: wait_for_multiple_orders_and_get_reports参数
+          title: WaitForMultipleOrdersAndGetReports
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
     status_types: {}
     type: python
   config_info: []
@@ -694,16 +699,15 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
-          type: object
+          type: string
         deck:
           type: string
-        protocol_type:
+      required:
-          type: string
+      - config
-      required: []
+      - deck
       type: object
     data:
       properties: {}
       required: []
       type: object
-  model: {}
   version: 1.0.0

unilabos/registry/devices/camera.yaml

@@ -0,0 +1,78 @@
+camera:
+  category:
+  - camera
+  class:
+    action_value_mappings:
+      auto-destroy_node:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: destroy_node参数
+          type: object
+        type: UniLabJsonCommand
+      auto-timer_callback:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: timer_callback参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.ros.nodes.presets.camera:VideoPublisher
+    status_types: {}
+    type: ros2
+  config_info: []
+  description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        camera_index:
+          default: 0
+          type: string
+        device_id:
+          default: video_publisher
+          type: string
+        device_uuid:
+          default: ''
+          type: string
+        period:
+          default: 0.1
+          type: number
+        resource_tracker:
+          type: object
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/cameraSII.yaml

@@ -18,7 +18,7 @@ cameracontroller_device:
             goal:
               properties:
                 config:
-                  type: object
+                  type: string
               required: []
               type: object
             result: {}
@@ -42,8 +42,7 @@ cameracontroller_device:
               properties: {}
               required: []
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: stop参数
@@ -51,7 +50,7 @@ cameracontroller_device:
         type: UniLabJsonCommand
     module: unilabos.devices.cameraSII.cameraUSB:CameraController
     status_types:
-      status: Dict[str, Any]
+      status: dict
     type: python
   config_info: []
   description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -104,4 +103,5 @@ cameracontroller_device:
       required:
       - status
       type: object
+  registry_type: device
   version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

@@ -141,26 +141,30 @@ hplc.agilent:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -171,6 +175,7 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
+      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -194,6 +199,10 @@ hplc.agilent:
       properties:
         could_run:
           type: boolean
+        data_file:
+          items:
+            type: string
+          type: array
         device_status:
           type: string
         driver_init_ok:
@@ -207,13 +216,14 @@ hplc.agilent:
         success:
           type: boolean
       required:
-      - could_run
-      - device_status
-      - driver_init_ok
-      - finish_status
-      - is_running
       - status_text
+      - device_status
+      - could_run
+      - driver_init_ok
+      - is_running
       - success
+      - finish_status
+      - data_file
       type: object
   version: 1.0.0
 hplc.agilent-zhida:
@@ -226,25 +236,26 @@ hplc.agilent-zhida:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -304,18 +315,21 @@ hplc.agilent-zhida:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -327,35 +341,35 @@ hplc.agilent-zhida:
         feedback: {}
         goal:
           string: string
-          text: text
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -393,7 +407,7 @@ hplc.agilent-zhida:
         status:
           type: object
       required:
-      - methods
       - status
+      - methods
       type: object
   version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -120,41 +120,42 @@ raman.home_made:
           type: object
         type: UniLabJsonCommand
       raman_cmd:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/chinwe.yaml

@@ -19,8 +19,7 @@ separator.chinwe:
               properties: {}
               required: []
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: connect参数
@@ -66,145 +65,135 @@ separator.chinwe:
               required:
               - command_dict
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: execute_command_from_outer参数
           type: object
         type: UniLabJsonCommand
       motor_rotate_quarter:
-        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
-        goal_default:
-          direction: 顺时针
-          motor_id: null
-          speed: 60
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 电机旋转 1/4 圈
           properties:
-            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
+                  enum:
+                  - 顺时针
+                  - 逆时针
                   type: string
                 motor_id:
+                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  type: integer
+                  enum:
+                  - '4'
+                  - '5'
+                  type: string
                 speed:
                   default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
+              - speed
               type: object
-            result: {}
-          required:
-          - goal
-          title: motor_rotate_quarter参数
-          type: object
         type: UniLabJsonCommand
       motor_run_continuous:
-        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
-        goal_default:
-          direction: 顺时针
-          motor_id: null
-          speed: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 电机一直旋转 (速度模式)
           properties:
-            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
+                  enum:
+                  - 顺时针
+                  - 逆时针
                   type: string
                 motor_id:
+                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  type: integer
+                  enum:
+                  - '4'
+                  - '5'
+                  type: string
                 speed:
+                  default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
               - speed
               type: object
-            result: {}
-          required:
-          - goal
-          title: motor_run_continuous参数
-          type: object
         type: UniLabJsonCommand
       motor_stop:
-        feedback: {}
         goal:
           motor_id: 4
-        goal_default:
-          motor_id: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 停止指定步进电机
           properties:
-            feedback: {}
             goal:
               properties:
                 motor_id:
+                  default: '4'
                   description: 选择电机
+                  enum:
+                  - '4'
+                  - '5'
                   title: '注: 4=搅拌, 5=旋钮'
-                  type: integer
+                  type: string
               required:
               - motor_id
               type: object
-            result: {}
-          required:
-          - goal
-          title: motor_stop参数
-          type: object
         type: UniLabJsonCommand
       pump_aspirate:
-        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
-        goal_default:
-          pump_id: null
-          valve_port: null
-          volume: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 注射泵吸液
           properties:
-            feedback: {}
             goal:
               properties:
                 pump_id:
+                  default: '1'
                   description: 选择泵
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
                 valve_port:
+                  default: '1'
                   description: 阀门端口
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
                 volume:
+                  default: 1000
                   description: 吸液步数
                   type: integer
               required:
@@ -212,38 +201,41 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
-            result: {}
-          required:
-          - goal
-          title: pump_aspirate参数
-          type: object
         type: UniLabJsonCommand
       pump_dispense:
-        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
-        goal_default:
-          pump_id: null
-          valve_port: null
-          volume: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 注射泵排液
           properties:
-            feedback: {}
             goal:
               properties:
                 pump_id:
+                  default: '1'
                   description: 选择泵
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
                 valve_port:
+                  default: '1'
                   description: 阀门端口
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
                 volume:
+                  default: 1000
                   description: 排液步数
                   type: integer
               required:
@@ -251,152 +243,121 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
-            result: {}
-          required:
-          - goal
-          title: pump_dispense参数
-          type: object
         type: UniLabJsonCommand
       pump_initialize:
-        feedback: {}
         goal:
           drain_port: 0
           output_port: 0
           pump_id: 1
           speed: 10
-        goal_default:
-          drain_port: 0
-          output_port: 0
-          pump_id: null
-          speed: 10
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 初始化指定注射泵
           properties:
-            feedback: {}
             goal:
               properties:
                 drain_port:
                   default: 0
                   description: 排液口索引
-                  type: string
+                  type: integer
                 output_port:
                   default: 0
                   description: 输出口索引
-                  type: string
-                pump_id:
-                  description: 选择泵
-                  title: '注: 1号泵, 2号泵, 3号泵'
                   type: integer
+                pump_id:
+                  default: '1'
+                  description: 选择泵
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: string
                 speed:
                   default: 10
                   description: 运动速度
-                  type: string
+                  type: integer
               required:
               - pump_id
               type: object
-            result: {}
-          required:
-          - goal
-          title: pump_initialize参数
-          type: object
         type: UniLabJsonCommand
       pump_valve:
-        feedback: {}
         goal:
           port: 1
           pump_id: 1
-        goal_default:
-          port: null
-          pump_id: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 切换指定泵的阀门端口
           properties:
-            feedback: {}
             goal:
               properties:
                 port:
+                  default: '1'
                   description: 阀门端口号 (1-8)
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  - '4'
+                  - '5'
+                  - '6'
+                  - '7'
+                  - '8'
+                  type: string
                 pump_id:
+                  default: '1'
                   description: 选择泵
-                  type: integer
+                  enum:
+                  - '1'
+                  - '2'
+                  - '3'
+                  type: string
               required:
               - pump_id
               - port
               type: object
-            result: {}
-          required:
-          - goal
-          title: pump_valve参数
-          type: object
         type: UniLabJsonCommand
       wait_sensor_level:
-        feedback: {}
         goal:
           target_state: 有液
           timeout: 30
-        goal_default:
-          target_state: 有液
-          timeout: 30
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 等待传感器液位条件
           properties:
-            feedback: {}
             goal:
               properties:
                 target_state:
                   default: 有液
                   description: 目标液位状态
+                  enum:
+                  - 有液
+                  - 无液
                   type: string
                 timeout:
                   default: 30
                   description: 超时时间 (秒)
                   type: integer
-              required: []
+              required:
+              - target_state
               type: object
-            result:
-              type: boolean
-          required:
-          - goal
-          title: wait_sensor_level参数
-          type: object
         type: UniLabJsonCommand
       wait_time:
-        feedback: {}
         goal:
           duration: 10
-        goal_default:
-          duration: null
         handles: {}
-        placeholder_keys: {}
-        result: {}
         schema:
           description: 等待指定时间
           properties:
-            feedback: {}
             goal:
               properties:
                 duration:
+                  default: 10
                   description: 等待时间 (秒)
                   type: integer
               required:
               - duration
               type: object
-            result:
-              type: boolean
-          required:
-          - goal
-          title: wait_time参数
-          type: object
         type: UniLabJsonCommand
     module: unilabos.devices.separator.chinwe:ChinweDevice
     status_types:
@@ -445,8 +406,8 @@ separator.chinwe:
         sensor_rssi:
           type: integer
       required:
-      - is_connected
       - sensor_level
       - sensor_rssi
+      - is_connected
       type: object
   version: 2.1.0

unilabos/registry/devices/coin_cell_workstation.yaml

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

unilabos/registry/devices/gas_handler.yaml

@@ -50,25 +50,26 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -81,25 +82,26 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -114,31 +116,32 @@ gas_source.mock:
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -229,25 +232,26 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -260,25 +264,26 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -293,31 +298,32 @@ vacuum_pump.mock:
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/hotel.yaml

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
-      rotation: ''
+      rotation: String
     type: python
   config_info: []
   description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -22,8 +22,7 @@ xyz_stepper_controller:
               required:
               - degrees
               type: object
-            result:
+            result: {}
-              type: integer
           required:
           - goal
           title: degrees_to_steps参数
@@ -48,8 +47,7 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: emergency_stop参数
@@ -74,10 +72,7 @@ xyz_stepper_controller:
                   type: boolean
               required: []
               type: object
-            result:
+            result: {}
-              additionalProperties:
-                type: boolean
-              type: object
           required:
           - goal
           title: enable_all_axes参数
@@ -106,8 +101,7 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: enable_motor参数
@@ -128,10 +122,7 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result:
+            result: {}
-              additionalProperties:
-                type: boolean
-              type: object
           required:
           - goal
           title: home_all_axes参数
@@ -156,8 +147,7 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: home_axis参数
@@ -198,8 +188,7 @@ xyz_stepper_controller:
               - axis
               - position
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: move_to_position参数
@@ -240,8 +229,7 @@ xyz_stepper_controller:
               - axis
               - degrees
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: move_to_position_degrees参数
@@ -282,8 +270,7 @@ xyz_stepper_controller:
               - axis
               - revolutions
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: move_to_position_revolutions参数
@@ -314,17 +301,14 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x:
-                  type: integer
+                  type: string
                 y:
-                  type: integer
+                  type: string
                 z:
-                  type: integer
+                  type: string
               required: []
               type: object
-            result:
+            result: {}
-              additionalProperties:
-                type: boolean
-              type: object
           required:
           - goal
           title: move_xyz参数
@@ -355,17 +339,14 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_deg:
-                  type: number
+                  type: string
                 y_deg:
-                  type: number
+                  type: string
                 z_deg:
-                  type: number
+                  type: string
               required: []
               type: object
-            result:
+            result: {}
-              additionalProperties:
-                type: boolean
-              type: object
           required:
           - goal
           title: move_xyz_degrees参数
@@ -396,17 +377,14 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_rev:
-                  type: number
+                  type: string
                 y_rev:
-                  type: number
+                  type: string
                 z_rev:
-                  type: number
+                  type: string
               required: []
               type: object
-            result:
+            result: {}
-              additionalProperties:
-                type: boolean
-              type: object
           required:
           - goal
           title: move_xyz_revolutions参数
@@ -431,8 +409,7 @@ xyz_stepper_controller:
               required:
               - revolutions
               type: object
-            result:
+            result: {}
-              type: integer
           required:
           - goal
           title: revolutions_to_steps参数
@@ -465,8 +442,7 @@ xyz_stepper_controller:
               - axis
               - speed
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: set_speed_mode参数
@@ -491,8 +467,7 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result:
+            result: {}
-              type: number
           required:
           - goal
           title: steps_to_degrees参数
@@ -517,8 +492,7 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result:
+            result: {}
-              type: number
           required:
           - goal
           title: steps_to_revolutions参数
@@ -539,10 +513,7 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result:
+            result: {}
-              additionalProperties:
-                type: boolean
-              type: object
           required:
           - goal
           title: stop_all_axes参数
@@ -571,8 +542,7 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: wait_for_completion参数
@@ -580,7 +550,8 @@ xyz_stepper_controller:
         type: UniLabJsonCommand
     module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
-      all_positions: Dict[MotorAxis, MotorPosition]
+      all_positions: dict
+      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -603,10 +574,12 @@ xyz_stepper_controller:
     data:
       properties:
         all_positions:
-          additionalProperties:
+          type: object
-            type: object
+        motor_status:
           type: object
       required:
+      - motor_status
       - all_positions
       type: object
+  registry_type: device
   version: 1.0.0

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,6 +5,31 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-print_status_summary:
         feedback: {}
         goal: {}
@@ -41,8 +66,7 @@ neware_battery_test_system:
               properties: {}
               required: []
               type: object
-            result:
+            result: {}
-              type: boolean
           required:
           - goal
           title: test_connection参数
@@ -53,8 +77,9 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
+          success: success
         schema:
           description: 调试方法：显示所有资源的实际名称
           properties:
@@ -64,10 +89,19 @@ neware_battery_test_system:
               required: []
               type: object
             result:
+              properties:
+                return_info:
+                  description: 资源调试信息
+                  type: string
+                success:
+                  description: 是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
               type: object
           required:
           - goal
-          title: debug_resource_names参数
           type: object
         type: UniLabJsonCommand
       export_status_json:
@@ -77,8 +111,9 @@ neware_battery_test_system:
         goal_default:
           filepath: bts_status.json
         handles: {}
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
+          success: success
         schema:
           description: 导出当前状态数据到JSON文件
           properties:
@@ -92,10 +127,19 @@ neware_battery_test_system:
               required: []
               type: object
             result:
+              properties:
+                return_info:
+                  description: 导出操作结果信息
+                  type: string
+                success:
+                  description: 导出是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
               type: object
           required:
           - goal
-          title: export_status_json参数
           type: object
         type: UniLabJsonCommand
       get_device_summary:
@@ -137,8 +181,10 @@ neware_battery_test_system:
         goal_default:
           plate_num: null
         handles: {}
-        placeholder_keys: {}
+        result:
-        result: {}
+          plate_data: plate_data
+          return_info: return_info
+          success: success
         schema:
           description: 获取指定盘或所有盘的状态信息
           properties:
@@ -147,14 +193,29 @@ neware_battery_test_system:
               properties:
                 plate_num:
                   description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
+                  maximum: 2
+                  minimum: 1
                   type: integer
               required: []
               type: object
             result:
+              properties:
+                plate_data:
+                  description: 盘状态数据（单盘或所有盘）
+                  type: object
+                return_info:
+                  description: 操作结果信息
+                  type: string
+                success:
+                  description: 查询是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
+              - plate_data
               type: object
           required:
           - goal
-          title: get_plate_status参数
           type: object
         type: UniLabJsonCommand
       print_status_summary_action:
@@ -162,8 +223,9 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
+          success: success
         schema:
           description: 打印通道状态摘要信息到控制台
           properties:
@@ -173,21 +235,28 @@ neware_battery_test_system:
               required: []
               type: object
             result:
+              properties:
+                return_info:
+                  description: 打印操作结果信息
+                  type: string
+                success:
+                  description: 打印是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
               type: object
           required:
           - goal
-          title: print_status_summary_action参数
           type: object
         type: UniLabJsonCommand
       query_plate_action:
         feedback: {}
         goal:
-          plate_id: plate_id
+          string: plate_id
-          string: string
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
         result:
           return_info: return_info
           success: success
@@ -195,23 +264,27 @@ neware_battery_test_system:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -225,11 +298,13 @@ neware_battery_test_system:
           csv_path: string
           output_dir: string
         goal_default:
-          csv_path: null
+          csv_path: ''
           output_dir: .
         handles: {}
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
+          submitted_count: submitted_count
+          success: success
         schema:
           description: 从CSV文件批量提交Neware测试任务
           properties:
@@ -240,17 +315,31 @@ neware_battery_test_system:
                   description: 输入CSV文件的绝对路径
                   type: string
                 output_dir:
-                  default: .
                   description: 输出目录（用于存储XML和备份文件），默认当前目录
                   type: string
               required:
               - csv_path
               type: object
             result:
+              properties:
+                return_info:
+                  description: 执行结果详细信息
+                  type: string
+                submitted_count:
+                  description: 成功提交的任务数量
+                  type: integer
+                success:
+                  description: 是否成功
+                  type: boolean
+                total_count:
+                  description: CSV文件中的总行数
+                  type: integer
+              required:
+              - return_info
+              - success
               type: object
           required:
           - goal
-          title: submit_from_csv参数
           type: object
         type: UniLabJsonCommand
       test_connection_action:
@@ -258,8 +347,9 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
+          success: success
         schema:
           description: 测试与电池测试系统的TCP连接
           properties:
@@ -269,10 +359,19 @@ neware_battery_test_system:
               required: []
               type: object
             result:
+              properties:
+                return_info:
+                  description: 连接测试结果信息
+                  type: string
+                success:
+                  description: 连接测试是否成功
+                  type: boolean
+              required:
+              - return_info
+              - success
               type: object
           required:
           - goal
-          title: test_connection_action参数
           type: object
         type: UniLabJsonCommand
       upload_backup_to_oss:
@@ -293,8 +392,12 @@ neware_battery_test_system:
             handler_key: uploaded_files
             io_type: sink
             label: Uploaded Files (with standard flow info)
-        placeholder_keys: {}
+        result:
-        result: {}
+          failed_files: failed_files
+          return_info: return_info
+          success: success
+          total_count: total_count
+          uploaded_count: uploaded_count
         schema:
           description: 上传备份文件到阿里云OSS
           properties:
@@ -314,17 +417,65 @@ neware_battery_test_system:
               required: []
               type: object
             result:
+              properties:
+                failed_files:
+                  description: 上传失败的文件名列表
+                  items:
+                    type: string
+                  type: array
+                return_info:
+                  description: 上传操作结果信息
+                  type: string
+                success:
+                  description: 上传是否成功
+                  type: boolean
+                total_count:
+                  description: 总文件数
+                  type: integer
+                uploaded_count:
+                  description: 成功上传的文件数
+                  type: integer
+                uploaded_files:
+                  description: 成功上传的文件详情列表
+                  items:
+                    properties:
+                      Battery_Code:
+                        description: 电池编码
+                        type: string
+                      Electrolyte_Code:
+                        description: 电解液编码
+                        type: string
+                      filename:
+                        description: 文件名
+                        type: string
+                      url:
+                        description: OSS下载链接
+                        type: string
+                    required:
+                    - filename
+                    - url
+                    - Battery_Code
+                    - Electrolyte_Code
+                    type: object
+                  type: array
+              required:
+              - return_info
+              - success
+              - uploaded_count
+              - total_count
+              - failed_files
+              - uploaded_files
               type: object
           required:
           - goal
-          title: upload_backup_to_oss参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
-      channel_status: Dict[int, Dict]
+      channel_status: dict
-      connection_info: Dict[str, str]
+      connection_info: dict
       device_summary: dict
+      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -366,24 +517,23 @@ neware_battery_test_system:
     data:
       properties:
         channel_status:
-          additionalProperties:
-            type: object
           type: object
         connection_info:
-          additionalProperties:
-            type: string
           type: object
         device_summary:
           type: object
+        plate_status:
+          type: object
         status:
           type: string
         total_channels:
           type: integer
       required:
+      - status
       - channel_status
       - connection_info
-      - device_summary
-      - status
       - total_channels
+      - plate_status
+      - device_summary
       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 +149,10 @@ 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: {}
+    status_types:
+      cache_stats: dict
+      node_value: String
     type: python
   config_info: []
   description: null
@@ -151,22 +161,36 @@ 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:
+        subscription_interval:
-          default: 1.0
+          default: 500
-          type: number
+          type: integer
         url:
           type: string
+        use_subscription:
+          default: true
+          type: boolean
         username:
           type: string
       required:
       - url
       type: object
     data:
-      properties: {}
+      properties:
-      required: []
+        cache_stats:
+          type: object
+        node_value:
+          type: string
+      required:
+      - node_value
+      - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/opsky_ATR30007.yaml

@@ -80,8 +80,7 @@ opsky_ATR30007:
                   type: string
               required: []
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: run_once参数

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -100,41 +100,42 @@ rotavap.one:
           type: object
         type: UniLabJsonCommand
       set_timer:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -249,13 +250,9 @@ separator.homemade:
         feedback:
           status: status
         goal:
-          event: event
           settling_time: settling_time
           stir_speed: stir_speed
-          stir_time: stir_time
+          stir_time: stir_time,
-          time: time
-          time_spec: time_spec
-          vessel: vessel
         goal_default:
           event: ''
           settling_time: ''
@@ -284,42 +281,34 @@ separator.homemade:
             sample_id: ''
             type: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          message: message
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: Stir_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 event:
                   type: string
                 settling_time:
                   type: string
                 stir_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 time:
                   type: string
                 time_spec:
                   type: string
                 vessel:
-                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -338,26 +327,16 @@ separator.homemade:
                     parent:
                       type: string
                     pose:
-                      additionalProperties: false
                       properties:
                         orientation:
-                          additionalProperties: false
                           properties:
                             w:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -367,19 +346,12 @@ separator.homemade:
                           title: orientation
                           type: object
                         position:
-                          additionalProperties: false
                           properties:
                             x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -409,10 +381,17 @@ separator.homemade:
                   - data
                   title: vessel
                   type: object
+              required:
+              - vessel
+              - time
+              - event
+              - time_spec
+              - stir_time
+              - stir_speed
+              - settling_time
               title: Stir_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -420,6 +399,10 @@ separator.homemade:
                   type: string
                 success:
                   type: boolean
+              required:
+              - success
+              - message
+              - return_info
               title: Stir_Result
               type: object
           required:
@@ -435,34 +418,36 @@ separator.homemade:
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/post_process_station.yaml

@@ -28,6 +28,31 @@ post_process_station:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-print_cache_stats:
         feedback: {}
         goal: {}
@@ -79,41 +104,42 @@ post_process_station:
           type: object
         type: UniLabJsonCommand
       disconnect:
-        feedback:
+        feedback: {}
-          status: status
         goal:
-          command: command
+          command: {}
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -123,41 +149,42 @@ post_process_station:
         type: SendCmd
       read_node:
         feedback:
-          status: status
+          result: result
         goal:
-          command: command
+          command: node_name
-          node_name: node_name
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -256,19 +283,17 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: PostProcessTriggerClean_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 acetone_inner_wall_cleaning_count:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 acetone_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -279,8 +304,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_outer_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -299,8 +322,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_stirrer_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -327,8 +348,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -339,8 +358,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_outer_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -359,8 +376,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_stirrer_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -379,8 +394,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_inner_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 water_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -391,8 +404,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_outer_wall_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 water_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -411,8 +422,6 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_stirrer_cleaning_injection:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 water_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -422,13 +431,55 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
+              required:
+              - nmp_outer_wall_cleaning_injection
+              - nmp_outer_wall_cleaning_count
+              - nmp_outer_wall_cleaning_wait_time
+              - nmp_outer_wall_cleaning_waste_time
+              - nmp_inner_wall_cleaning_injection
+              - nmp_inner_wall_cleaning_count
+              - nmp_pump_cleaning_suction_count
+              - nmp_inner_wall_cleaning_waste_time
+              - nmp_stirrer_cleaning_injection
+              - nmp_stirrer_cleaning_count
+              - nmp_stirrer_cleaning_wait_time
+              - nmp_stirrer_cleaning_waste_time
+              - water_outer_wall_cleaning_injection
+              - water_outer_wall_cleaning_count
+              - water_outer_wall_cleaning_wait_time
+              - water_outer_wall_cleaning_waste_time
+              - water_inner_wall_cleaning_injection
+              - water_inner_wall_cleaning_count
+              - water_pump_cleaning_suction_count
+              - water_inner_wall_cleaning_waste_time
+              - water_stirrer_cleaning_injection
+              - water_stirrer_cleaning_count
+              - water_stirrer_cleaning_wait_time
+              - water_stirrer_cleaning_waste_time
+              - acetone_outer_wall_cleaning_injection
+              - acetone_outer_wall_cleaning_count
+              - acetone_outer_wall_cleaning_wait_time
+              - acetone_outer_wall_cleaning_waste_time
+              - acetone_inner_wall_cleaning_injection
+              - acetone_inner_wall_cleaning_count
+              - acetone_pump_cleaning_suction_count
+              - acetone_inner_wall_cleaning_waste_time
+              - acetone_stirrer_cleaning_injection
+              - acetone_stirrer_cleaning_count
+              - acetone_stirrer_cleaning_wait_time
+              - acetone_stirrer_cleaning_waste_time
+              - pipe_blowing_time
+              - injection_pump_forward_empty_suction_count
+              - injection_pump_reverse_empty_suction_count
+              - filtration_liquid_selection
               title: PostProcessTriggerClean_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: PostProcessTriggerClean_Result
               type: object
           required:
@@ -451,11 +502,11 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: PostProcessGrab_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 raw_tank_number:
                   maximum: 2147483647
@@ -465,13 +516,17 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
+              required:
+              - reaction_tank_number
+              - raw_tank_number
               title: PostProcessGrab_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: PostProcessGrab_Result
               type: object
           required:
@@ -518,15 +573,13 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: PostProcessTriggerPostPro_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 atomization_fast_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 atomization_pressure_kpa:
                   maximum: 2147483647
@@ -541,12 +594,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 first_wash_water_amount:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 initial_water_amount:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 injection_pump_push_speed:
                   maximum: 2147483647
@@ -573,20 +622,32 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 second_wash_water_amount:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 wash_slow_speed:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
+              required:
+              - atomization_fast_speed
+              - wash_slow_speed
+              - injection_pump_suction_speed
+              - injection_pump_push_speed
+              - raw_liquid_suction_count
+              - first_wash_water_amount
+              - second_wash_water_amount
+              - first_powder_mixing_tim
+              - second_powder_mixing_time
+              - first_powder_wash_count
+              - second_powder_wash_count
+              - initial_water_amount
+              - pre_filtration_mixing_time
+              - atomization_pressure_kpa
               title: PostProcessTriggerPostPro_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: PostProcessTriggerPostPro_Result
               type: object
           required:
@@ -608,26 +669,30 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -637,7 +702,8 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      cache_stats: Dict[str, Any]
+      cache_stats: dict
+      node_value: String
     type: python
   config_info: []
   description: 后处理站
@@ -652,9 +718,7 @@ post_process_station:
         config_path:
           type: string
         deck:
-          anyOf:
+          type: string
-          - type: object
-          - type: object
         password:
           type: string
         subscription_interval:
@@ -674,7 +738,10 @@ post_process_station:
       properties:
         cache_stats:
           type: object
+        node_value:
+          type: string
       required:
+      - node_value
       - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/pump_and_valve.yaml

@@ -136,36 +136,36 @@ solenoid_valve:
       set_valve_position:
         feedback: {}
         goal:
-          position: position
+          string: position
-          string: string
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -278,25 +278,26 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -309,25 +310,26 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -420,27 +422,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
-      auto-list:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: list的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: list参数
-          type: object
-        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -714,10 +695,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 position:
-                  anyOf:
+                  type: string
-                  - type: integer
-                  - type: string
-                  - type: number
               required:
               - position
               type: object
@@ -742,9 +720,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 velocity:
-                  anyOf:
+                  type: string
-                  - type: integer
-                  - type: string
               required:
               - velocity
               type: object
@@ -804,13 +780,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: ''
+      plunger_position: String
       position: float
       status: str
       valve_position: str
-      velocity_end: ''
+      velocity_end: String
-      velocity_grade: ''
+      velocity_grade: String
-      velocity_init: ''
+      velocity_init: String
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -909,15 +885,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
         velocity_init:
           type: string
       required:
-      - max_velocity
-      - mode
-      - plunger_position
-      - position
       - status
-      - valve_position
+      - mode
-      - velocity_end
+      - max_velocity
       - velocity_grade
       - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
       type: object
   version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -967,27 +943,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
-      auto-list:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: list的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: list参数
-          type: object
-        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -1261,10 +1216,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 position:
-                  anyOf:
+                  type: string
-                  - type: integer
-                  - type: string
-                  - type: number
               required:
               - position
               type: object
@@ -1289,9 +1241,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 velocity:
-                  anyOf:
+                  type: string
-                  - type: integer
-                  - type: string
               required:
               - velocity
               type: object
@@ -1351,13 +1301,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: ''
+      plunger_position: String
       position: float
       status: str
       valve_position: str
-      velocity_end: ''
+      velocity_end: String
-      velocity_grade: ''
+      velocity_grade: String
-      velocity_init: ''
+      velocity_init: String
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1472,14 +1422,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
         velocity_init:
           type: string
       required:
-      - max_velocity
-      - mode
-      - plunger_position
-      - position
       - status
-      - valve_position
+      - mode
-      - velocity_end
+      - max_velocity
       - velocity_grade
       - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -4,78 +4,6 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
-      add_time_constraint:
-        feedback: {}
-        goal:
-          duration: duration
-          end_point: end_point
-          end_step_key: end_step_key
-          start_point: start_point
-          start_step_key: start_step_key
-        goal_default:
-          duration: null
-          end_point: 0
-          end_step_key: ''
-          start_point: 0
-          start_step_key: ''
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 添加时间约束 - 在两个工作流之间添加时间约束
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                duration:
-                  description: 时间(秒)
-                  type: integer
-                end_point:
-                  default: 0
-                  description: 终点计时点 (Start=开始前, End=结束后)
-                  type: integer
-                end_step_key:
-                  default: ''
-                  description: 终点步骤Key (可选, 默认为空则自动选择)
-                  type: string
-                start_point:
-                  default: 0
-                  description: 起点计时点 (Start=开始前, End=结束后)
-                  type: integer
-                start_step_key:
-                  default: ''
-                  description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
-                  type: string
-              required:
-              - duration
-              type: object
-            result: {}
-          required:
-          - goal
-          title: add_time_constraint参数
-          type: object
-        type: UniLabJsonCommand
-      auto-clear_workflows:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: clear_workflows参数
-          type: object
-        type: UniLabJsonCommand
       auto-create_order:
         feedback: {}
         goal: {}
@@ -95,8 +23,7 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: create_order参数
@@ -123,8 +50,7 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -149,8 +75,7 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -175,8 +100,7 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -201,47 +125,12 @@ reaction_station.bioyond:
               required:
               - web_workflow_json
               type: object
-            result:
+            result: {}
-              items:
-                additionalProperties:
-                  type: string
-                type: object
-              type: array
           required:
           - goal
           title: process_web_workflows参数
           type: object
         type: UniLabJsonCommand
-      auto-set_reactor_temperature:
-        feedback: {}
-        goal: {}
-        goal_default:
-          reactor_id: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                reactor_id:
-                  type: integer
-                temperature:
-                  type: number
-              required:
-              - reactor_id
-              - temperature
-              type: object
-            result:
-              type: string
-          required:
-          - goal
-          title: set_reactor_temperature参数
-          type: object
-        type: UniLabJsonCommand
       auto-skip_titration_steps:
         feedback: {}
         goal: {}
@@ -261,35 +150,12 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: skip_titration_steps参数
           type: object
         type: UniLabJsonCommand
-      auto-sync_workflow_sequence_from_bioyond:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              type: object
-          required:
-          - goal
-          title: sync_workflow_sequence_from_bioyond参数
-          type: object
-        type: UniLabJsonCommand
       auto-wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal: {}
@@ -316,38 +182,10 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result:
-              type: object
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          value: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                value:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - value
-              type: object
             result: {}
           required:
           - goal
-          title: workflow_sequence参数
+          title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
       auto-workflow_step_query:
@@ -369,35 +207,12 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: workflow_step_query参数
           type: object
         type: UniLabJsonCommand
-      clean_all_server_workflows:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 清空服务端所有非核心工作流 (保留核心流程)
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              type: object
-          required:
-          - goal
-          title: clean_all_server_workflows参数
-          type: object
-        type: UniLabJsonCommand
       drip_back:
         feedback: {}
         goal:
@@ -408,14 +223,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: null
+          assign_material_name: ''
-          temperature: 25.0
+          temperature: ''
-          time: '90'
+          time: ''
-          titration_type: '1'
+          titration_type: ''
-          torque_variation: 2
+          torque_variation: ''
-          volume: null
+          volume: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 滴回去
@@ -427,27 +241,27 @@ reaction_station.bioyond:
                   description: 物料名称（不能为空）
                   type: string
                 temperature:
-                  default: 25.0
                   description: 温度设定(°C)
-                  type: number
+                  type: string
                 time:
-                  default: '90'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  default: '1'
+                  description: 是否滴定(1=否, 2=是)
-                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
-                  default: 2
+                  description: 是否观察 (1=否, 2=是)
-                  description: 是否观察 (NO=否, YES=是)
+                  type: string
-                  type: integer
                 volume:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
-              - assign_material_name
               - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
@@ -460,7 +274,7 @@ reaction_station.bioyond:
         goal:
           batch_reports_result: batch_reports_result
         goal_default:
-          batch_reports_result: null
+          batch_reports_result: ''
         handles:
           input:
           - data_key: batch_reports_result
@@ -476,8 +290,8 @@ reaction_station.bioyond:
             handler_key: ACTUALS_EXTRACTED
             io_type: sink
             label: Extracted Actuals
-        placeholder_keys: {}
+        result:
-        result: {}
+          return_info: return_info
         schema:
           description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
           properties:
@@ -491,6 +305,13 @@ reaction_station.bioyond:
               - batch_reports_result
               type: object
             result:
+              properties:
+                return_info:
+                  description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
+                    actualVolume
+                  type: string
+              required:
+              - return_info
               title: extract_actuals_from_batch_reports结果
               type: object
           required:
@@ -508,14 +329,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: BAPP
+          assign_material_name: ''
-          temperature: 25.0
+          temperature: ''
-          time: '0'
+          time: ''
-          titration_type: '1'
+          titration_type: ''
-          torque_variation: 1
+          torque_variation: ''
-          volume: '350'
+          volume: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料烧杯
@@ -524,30 +344,30 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  default: BAPP
                   description: 物料名称
                   type: string
                 temperature:
-                  default: 25.0
                   description: 温度设定(°C)
-                  type: number
+                  type: string
                 time:
-                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  default: '1'
+                  description: 是否滴定(1=否, 2=是)
-                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
-                  default: 1
+                  description: 是否观察 (1=否, 2=是)
-                  description: 是否观察 (NO=否, YES=是)
-                  type: integer
-                volume:
-                  default: '350'
-                  description: 分液公式(mL)
                   type: string
-              required: []
+                volume:
+                  description: 分液公式(μL)
+                  type: string
+              required:
+              - volume
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
@@ -566,13 +386,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: null
+          assign_material_name: ''
-          solvents: null
+          solvents: ''
-          temperature: 25.0
+          temperature: '25.00'
           time: '360'
           titration_type: '1'
-          torque_variation: 2
+          torque_variation: '2'
-          volume: null
+          volume: ''
         handles:
           input:
           - data_key: solvents
@@ -581,10 +401,9 @@ reaction_station.bioyond:
             handler_key: solvents
             io_type: source
             label: Solvents Data From Calculation Node
-        placeholder_keys: {}
         result: {}
         schema:
-          description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
+          description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
           properties:
             feedback: {}
             goal:
@@ -596,23 +415,23 @@ reaction_station.bioyond:
                   description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
                   type: string
                 temperature:
-                  default: 25.0
+                  default: '25.00'
                   description: 温度设定(°C),默认25.00
-                  type: number
+                  type: string
                 time:
                   default: '360'
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是),默认NO
+                  description: 是否滴定(1=否, 2=是),默认1
                   type: string
                 torque_variation:
-                  default: 2
+                  default: '2'
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察 (1=否, 2=是),默认2
-                  type: integer
+                  type: string
                 volume:
-                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
                   type: string
               required:
               - assign_material_name
@@ -636,15 +455,15 @@ reaction_station.bioyond:
           volume_formula: volume_formula
           x_value: x_value
         goal_default:
-          assign_material_name: null
+          assign_material_name: ''
-          extracted_actuals: null
+          extracted_actuals: ''
-          feeding_order_data: null
+          feeding_order_data: ''
-          temperature: 25.0
+          temperature: '25.00'
           time: '90'
           titration_type: '2'
-          torque_variation: 2
+          torque_variation: '2'
-          volume_formula: null
+          volume_formula: ''
-          x_value: null
+          x_value: ''
         handles:
           input:
           - data_key: extracted_actuals
@@ -659,7 +478,6 @@ reaction_station.bioyond:
             handler_key: feeding_order
             io_type: source
             label: Feeding Order Data From Calculation Node
-        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -678,23 +496,23 @@ reaction_station.bioyond:
                     {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
-                  default: 25.0
+                  default: '25.00'
                   description: 温度设定(°C),默认25.00
-                  type: number
+                  type: string
                 time:
                   default: '90'
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
                   default: '2'
-                  description: 是否滴定(NO=否, YES=是),默认YES
+                  description: 是否滴定(1=否, 2=是),默认2
                   type: string
                 torque_variation:
-                  default: 2
+                  default: '2'
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察 (1=否, 2=是),默认2
-                  type: integer
+                  type: string
                 volume_formula:
-                  description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
+                  description: 分液公式(μL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                   type: string
                 x_value:
                   description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
@@ -718,14 +536,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume_formula: volume_formula
         goal_default:
-          assign_material_name: null
+          assign_material_name: ''
-          temperature: 25.0
+          temperature: ''
-          time: '0'
+          time: ''
-          titration_type: '1'
+          titration_type: ''
-          torque_variation: 1
+          torque_variation: ''
-          volume_formula: null
+          volume_formula: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料小瓶(非滴定)
@@ -737,27 +554,27 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 temperature:
-                  default: 25.0
                   description: 温度设定(°C)
-                  type: number
+                  type: string
                 time:
-                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  default: '1'
+                  description: 是否滴定(1=否, 2=是)
-                  description: 是否滴定(NO=否, YES=是)
                   type: string
                 torque_variation:
-                  default: 1
+                  description: 是否观察 (1=否, 2=是)
-                  description: 是否观察 (NO=否, YES=是)
+                  type: string
-                  type: integer
                 volume_formula:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
@@ -771,10 +588,9 @@ reaction_station.bioyond:
           task_name: task_name
           workflow_name: workflow_name
         goal_default:
-          task_name: null
+          task_name: ''
-          workflow_name: null
+          workflow_name: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 处理并执行工作流
@@ -792,8 +608,7 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -806,11 +621,10 @@ reaction_station.bioyond:
           cutoff: cutoff
           temperature: temperature
         goal_default:
-          assign_material_name: null
+          assign_material_name: ''
-          cutoff: '900000'
+          cutoff: ''
-          temperature: -10.0
+          temperature: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -822,14 +636,14 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 cutoff:
-                  default: '900000'
                   description: 粘度上限
                   type: string
                 temperature:
-                  default: -10.0
                   description: 温度设定(°C)
-                  type: number
+                  type: string
               required:
+              - cutoff
+              - temperature
               - assign_material_name
               type: object
             result: {}
@@ -843,7 +657,6 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -853,35 +666,20 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              properties:
+                code:
+                  description: 操作结果代码(1表示成功,0表示失败)
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
           required:
           - goal
           title: reactor_taken_out参数
           type: object
         type: UniLabJsonCommand
-      scheduler_start:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result:
-              title: scheduler_start结果
-              type: object
-          required:
-          - goal
-          title: scheduler_start参数
-          type: object
-        type: UniLabJsonCommand
       solid_feeding_vials:
         feedback: {}
         goal:
@@ -891,13 +689,12 @@ reaction_station.bioyond:
           time: time
           torque_variation: torque_variation
         goal_default:
-          assign_material_name: null
+          assign_material_name: ''
-          material_id: null
+          material_id: ''
-          temperature: 25.0
+          temperature: ''
-          time: '0'
+          time: ''
-          torque_variation: 1
+          torque_variation: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -909,22 +706,23 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   type: string
                 material_id:
-                  description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
+                  description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
                   type: string
                 temperature:
-                  default: 25.0
                   description: 温度设定(°C)
-                  type: number
+                  type: string
                 time:
-                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
-                  default: 1
+                  description: 是否观察 (1=否, 2=是)
-                  description: 是否观察 (NO=否, YES=是)
+                  type: string
-                  type: integer
               required:
+              - assign_material_name
               - material_id
+              - time
+              - torque_variation
+              - temperature
               type: object
             result: {}
           required:
@@ -932,10 +730,10 @@ reaction_station.bioyond:
           title: solid_feeding_vials参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
-      workflow_sequence: str
+      workflow_sequence: String
     type: python
   config_info: []
   description: Bioyond反应站
@@ -955,7 +753,9 @@ reaction_station.bioyond:
     data:
       properties:
         workflow_sequence:
-          type: string
+          items:
+            type: string
+          type: array
       required:
       - workflow_sequence
       type: object
@@ -991,7 +791,7 @@ reaction_station.reactor:
           title: update_metrics参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
     status_types: {}
     type: python
   config_info: []

unilabos/registry/devices/robot_agv.yaml

@@ -37,41 +37,42 @@ agv.SEER:
           type: object
         type: UniLabJsonCommand
       send_nav_task:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/robot_arm.yaml

@@ -122,6 +122,31 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: post_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -173,41 +198,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -216,41 +241,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_position:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -259,41 +284,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_status:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -430,41 +455,42 @@ robotic_arm.UR:
           type: object
         type: UniLabJsonCommand
       move_pos_task:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
         result:
-          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -506,8 +532,8 @@ robotic_arm.UR:
           type: string
       required:
       - arm_pose
-      - arm_status
       - gripper_pose
+      - arm_status
       - gripper_status
       type: object
   version: 1.0.0
@@ -700,41 +726,41 @@ robotic_arm.elite:
           type: object
         type: UniLabJsonCommand
       modbus_task_cmd:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -744,8 +770,8 @@ robotic_arm.elite:
         type: SendCmd
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
-      actual_joint_positions: ''
+      actual_joint_positions: String
-      arm_pose: list[float]
+      arm_pose: String
     type: python
   config_info: []
   description: Elite robot arm
@@ -771,8 +797,8 @@ robotic_arm.elite:
             type: number
           type: array
       required:
-      - actual_joint_positions
       - arm_pose
+      - actual_joint_positions
       type: object
   model:
     mesh: elite_robot

unilabos/registry/devices/robot_gripper.yaml

@@ -114,12 +114,11 @@ gripper.misumi_rz:
             goal:
               properties:
                 data:
-                  type: object
+                  type: string
               required:
               - data
               type: object
-            result:
+            result: {}
-              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -399,26 +398,30 @@ gripper.misumi_rz:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -501,82 +504,71 @@ gripper.mock:
         type: UniLabJsonCommand
       push_to:
         feedback:
-          effort: effort
+          effort: torque
           position: position
-          reached_goal: reached_goal
-          stalled: stalled
         goal:
-          command: command
+          command.max_effort: torque
-          position: position
+          command.position: position
-          torque: torque
-          velocity: velocity
         goal_default:
           command:
             max_effort: 0.0
             position: 0.0
         handles: {}
-        placeholder_keys: {}
         result:
-          effort: effort
+          effort: torque
           position: position
-          reached_goal: reached_goal
-          stalled: stalled
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 effort:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
               title: GripperCommand_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
-                  additionalProperties: false
                   properties:
                     max_effort:
-                      maximum: 1.7976931348623157e+308
-                      minimum: -1.7976931348623157e+308
                       type: number
                     position:
-                      maximum: 1.7976931348623157e+308
-                      minimum: -1.7976931348623157e+308
                       type: number
                   required:
                   - position
                   - max_effort
                   title: command
                   type: object
+              required:
+              - command
               title: GripperCommand_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 effort:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
               title: GripperCommand_Result
               type: object
           required:
@@ -612,8 +604,8 @@ gripper.mock:
           type: number
       required:
       - position
-      - status
-      - torque
       - velocity
+      - torque
+      - status
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -24,27 +24,6 @@ linear_motion.grbl:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
-      auto-list:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: list的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: list参数
-          type: object
-        type: UniLabJsonCommand
       auto-set_position:
         feedback: {}
         goal: {}
@@ -114,39 +93,44 @@ linear_motion.grbl:
         type: UniLabJsonCommandAsync
       move_through_points:
         feedback:
-          current_pose: current_pose
+          current_pose.pose.position: position
-          distance_remaining: distance_remaining
+          estimated_time_remaining.sec: time_remaining
-          estimated_time_remaining: estimated_time_remaining
+          navigation_time.sec: time_spent
-          navigation_time: navigation_time
+          number_of_poses_remaining: pose_number_remaining
-          number_of_poses_remaining: number_of_poses_remaining
-          number_of_recoveries: number_of_recoveries
         goal:
-          behavior_tree: behavior_tree
+          poses[].pose.position: positions[]
-          poses: poses
-          positions: positions
         goal_default:
           behavior_tree: ''
-          poses: []
+          poses:
+          - header:
+              frame_id: ''
+              stamp:
+                nanosec: 0
+                sec: 0
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          result: result
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 current_pose:
-                  additionalProperties: false
                   properties:
                     header:
-                      additionalProperties: false
                       properties:
                         frame_id:
                           type: string
                         stamp:
-                          additionalProperties: false
                           properties:
                             nanosec:
                               maximum: 4294967295
@@ -167,26 +151,16 @@ linear_motion.grbl:
                       title: header
                       type: object
                     pose:
-                      additionalProperties: false
                       properties:
                         orientation:
-                          additionalProperties: false
                           properties:
                             w:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -196,19 +170,12 @@ linear_motion.grbl:
                           title: orientation
                           type: object
                         position:
-                          additionalProperties: false
                           properties:
                             x:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
-                              maximum: 1.7976931348623157e+308
-                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -227,11 +194,8 @@ linear_motion.grbl:
                   title: current_pose
                   type: object
                 distance_remaining:
-                  maximum: 3.4028235e+38
-                  minimum: -3.4028235e+38
                   type: number
                 estimated_time_remaining:
-                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -247,7 +211,6 @@ linear_motion.grbl:
                   title: estimated_time_remaining
                   type: object
                 navigation_time:
-                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -270,10 +233,16 @@ linear_motion.grbl:
                   maximum: 32767
                   minimum: -32768
                   type: integer
+              required:
+              - current_pose
+              - navigation_time
+              - estimated_time_remaining
+              - number_of_recoveries
+              - distance_remaining
+              - number_of_poses_remaining
               title: NavigateThroughPoses_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 behavior_tree:
                   type: string
@@ -287,8 +256,12 @@ linear_motion.grbl:
                           stamp:
                             properties:
                               nanosec:
+                                maximum: 4294967295
+                                minimum: 0
                                 type: integer
                               sec:
+                                maximum: 2147483647
+                                minimum: -2147483648
                                 type: integer
                             required:
                             - sec
@@ -341,17 +314,23 @@ linear_motion.grbl:
                     required:
                     - header
                     - pose
+                    title: poses
                     type: object
                   type: array
+              required:
+              - poses
+              - behavior_tree
               title: NavigateThroughPoses_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 result:
-                  additionalProperties: true
+                  properties: {}
+                  required: []
                   title: result
                   type: object
+              required:
+              - result
               title: NavigateThroughPoses_Result
               type: object
           required:
@@ -361,15 +340,9 @@ linear_motion.grbl:
         type: NavigateThroughPoses
       set_spindle_speed:
         feedback:
-          error: error
+          position: spindle_speed
-          header: header
-          position: position
-          velocity: velocity
         goal:
-          max_velocity: max_velocity
+          position: spindle_speed
-          min_duration: min_duration
-          position: position
-          spindle_speed: spindle_speed
         goal_default:
           max_velocity: 0.0
           min_duration:
@@ -377,25 +350,19 @@ linear_motion.grbl:
             sec: 0
           position: 0.0
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 error:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 header:
-                  additionalProperties: false
                   properties:
                     frame_id:
                       type: string
                     stamp:
-                      additionalProperties: false
                       properties:
                         nanosec:
                           maximum: 4294967295
@@ -416,24 +383,21 @@ linear_motion.grbl:
                   title: header
                   type: object
                 position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 velocity:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
+              required:
+              - header
+              - position
+              - velocity
+              - error
               title: SingleJointPosition_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 max_velocity:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
                 min_duration:
-                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -449,13 +413,16 @@ linear_motion.grbl:
                   title: min_duration
                   type: object
                 position:
-                  maximum: 1.7976931348623157e+308
-                  minimum: -1.7976931348623157e+308
                   type: number
+              required:
+              - position
+              - min_duration
+              - max_velocity
               title: SingleJointPosition_Goal
               type: object
             result:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: SingleJointPosition_Result
               type: object
           required:
@@ -465,7 +432,7 @@ linear_motion.grbl:
         type: SingleJointPosition
     module: unilabos.devices.cnc.grbl_sync:GrblCNC
     status_types:
-      position: Point3D
+      position: unilabos.messages:Point3D
       spindle_speed: float
       status: str
     type: python
@@ -504,9 +471,9 @@ linear_motion.grbl:
         status:
           type: string
       required:
+      - status
       - position
       - spindle_speed
-      - status
       type: object
   version: 1.0.0
 linear_motion.toyo_xyz.sim:
@@ -633,6 +600,31 @@ linear_motion.toyo_xyz.sim:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: post_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: object
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -684,41 +676,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -727,41 +719,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_position:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -770,41 +762,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_status:
-        feedback:
+        feedback: {}
-          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -947,26 +939,30 @@ motor.iCL42:
           description: ''
           properties:
             feedback:
-              additionalProperties: false
               properties:
                 status:
                   type: string
+              required:
+              - status
               title: SendCmd_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 command:
                   type: string
+              required:
+              - command
               title: SendCmd_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: SendCmd_Result
               type: object
           required:
@@ -1004,8 +1000,8 @@ motor.iCL42:
         success:
           type: boolean
       required:
-      - is_executing_run
       - motor_position
+      - is_executing_run
       - success
       type: object
   version: 1.0.0

unilabos/registry/devices/solid_dispenser.yaml

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

unilabos/registry/devices/temperature.yaml

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

unilabos/registry/devices/xrd_d7mate.yaml

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

unilabos/registry/devices/zhida_gcms.yaml

@@ -8,25 +8,26 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -76,6 +77,31 @@ zhida_gcms:
           title: connect参数
           type: object
         type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
       get_methods:
         feedback: {}
         goal: {}
@@ -86,18 +112,21 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -115,18 +144,21 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -144,18 +176,21 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -168,25 +203,26 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Feedback
               type: object
             goal:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: EmptyIn_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
+              required:
+              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -198,35 +234,35 @@ zhida_gcms:
         feedback: {}
         goal:
           string: string
-          text: text
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -237,36 +273,36 @@ zhida_gcms:
       start_with_csv_file:
         feedback: {}
         goal:
-          csv_file_path: csv_file_path
           string: string
         goal_default:
           string: ''
         handles: {}
-        placeholder_keys: {}
+        result: {}
-        result:
-          return_info: return_info
-          success: success
         schema:
           description: ''
           properties:
             feedback:
-              additionalProperties: true
+              properties: {}
+              required: []
               title: StrSingleInput_Feedback
               type: object
             goal:
-              additionalProperties: false
               properties:
                 string:
                   type: string
+              required:
+              - string
               title: StrSingleInput_Goal
               type: object
             result:
-              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
+              required:
+              - return_info
+              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -307,8 +343,8 @@ zhida_gcms:
         version:
           type: object
       required:
-      - methods
       - status
+      - methods
       - version
       type: object
   version: 1.0.0